Professional Documents
Culture Documents
CR00758046_en-03/2016.11
Instruction Handbook
The information contained in this manual is the property of COMAU S.p.A.
Reproduction of text and illustrations is not permitted without prior written approval by COMAU S.p.A.
COMAU S.p.A. reserves the right to alter product specifications at any time without notice or obligation.
SUMMARY
SUMMARY
PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Symbols used in the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Reference documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Modification History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
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Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Summary table of access rights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Automatic Timed Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
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Checkbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
Checkgroup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Label. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
Cell of a table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
TreeGrid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
Keyboards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Numeric keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
Alphanumeric keyboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
PDL2 keyboard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86
Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87
Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
Connection Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Dialogue and information window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Desktop Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Desktop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Favorites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Removing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
Exporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96
Home Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Basic information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Control Unit name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98
Arms name and type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
Software version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99
Network address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
Current Login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
Language selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
Date and time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
User Tiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102
Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Login and Logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
Login . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
Logout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
Cold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
Shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105
Motion Page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Arm\SyncArm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
COORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108
Tool, Frame, Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108
Tool and Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109
Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
Current arm position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
Payload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
Coop (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Coop Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112
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COOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112
Advanced . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Incremental Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
J-Pad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Collision Detection (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
Palletizing (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Conveyor Tracking (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Alarm Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Ack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
Cause & Remedy Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Notifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Prog Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
New program... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
Load.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
Activate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
Convert conflicts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
Dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
Load (with option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
with another .VAR (As) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126
.VAR only (Var) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
Another .Var only (Var As) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
Save data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
Save code. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
Save variables as . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
Erase from execution memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Select All. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128
Deselect All. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Invert Sel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Open [ENTER] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
Activate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131
Deactivate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132
Pause . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
Unpause . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Show variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
Add... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
Assign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .139
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View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140
Callchain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140
Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141
IDE Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Opening the IDE page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Description of the video screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
IDE status lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .143
Editor area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .143
Colours . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Cursors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Available functions description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Open... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .147
<New...> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
<Load...>. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
Open... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .149
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .149
Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
Abort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
Deactivate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
Delete unused vars. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .151
Immediate execution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
Select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
Paste. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155
Delete line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155
Undelete line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155
Goto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155
Line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155
Set execution cursor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
Insert/remove break point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
Comment/Uncomment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
Insert. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
Guided insertion of a generic statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
Group of instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .158
REC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160
REC setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160
MOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161
Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
View variables in line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
View variables in program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167
Callchain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
Closure key. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
Display Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Creating a new combination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Viewing/modifying/deleting an already existing combination . . . . . . . . . . . . . . . . . . . . . . . . 173
Exporting the saved combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
7
Comau Robotics Product Instruction
SUMMARY
DEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176
Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176
Remote Inp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .177
Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178
PORTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178
VARS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .179
Program Var . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .180
System Var . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182
Installed applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
Open... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186
Save.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186
Save view as... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186
Save values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187
Select All. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188
Deselect All . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188
Invert Sel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188
Delete all. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189
Add... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189
Assign. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189
On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
Valore... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
Current position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191
On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191
Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191
Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191
Value... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191
Unforce . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
ProgressBar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
Appl Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Files Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Disk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
New . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Backup of Saveset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .198
Restore of Saveset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200
Device change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202
Device Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202
Recycle bin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .203
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Select all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
Deselect all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
Invert sel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
Select prompt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
8
Comau Robotics Product Instruction
SUMMARY
Cut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
Copy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204
Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205
File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Open [ENTER] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205
File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207
Send to . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .208
Rename . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209
Delete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209
Delete Perm.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210
Translate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210
Compress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210
Extract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211
Load and activate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211
Install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211
View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Big icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
Sort by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213
Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Attribute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213
Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214
Data Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
Reload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
Apply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216
AutoApply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
Undo Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217
Select row . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218
Select cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218
Deselect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219
Copy & paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219
Insert row . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Delete row. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220
Closure key. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221
System tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
BASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
TOOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .223
FRAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .224
Accessing system tables from within a PDL2 program . . . . . . . . . . . . . . . . . . . . . . . . . . .224
Routine for Tool and Frame setting for a specified Arm . . . . . . . . . . . . . . . . . . . . . . . . .224
Routine for Base setting for a specified Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226
Routines to get/set/save the Tool, Frame and Base value . . . . . . . . . . . . . . . . . . . . . . .226
Using the routines - examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .230
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .231
Application tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
User tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
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Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .278
Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .280
Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .281
Customer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .283
Date-Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .283
ExeHelp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .286
Install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .287
Login. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .288
Users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .288
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .290
NoAlarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .290
Reload-Sw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .291
System and TP upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .293
Robot configuration upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .294
Completion of the System configuration (.C5G) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .295
TP only upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .297
Full loading of System and TP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .297
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .301
Service Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .304
MultiArm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .304
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
CauseRemedy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .305
Eco . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .305
Displayed fields. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .306
Functional keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307
Execute. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .309
Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .311
Moni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .311
RoboSAFE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
Available functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .314
Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .315
Trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319
Tips Page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
LUN_TP Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
iTP Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
SETUP Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
ARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .323
AUX_AXES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .323
FRAMES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .324
Service Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
QUICK Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Viewing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Creating/Modifying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
SYS_CALL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .326
PDL2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .326
Exporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
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Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
WinC5G Activation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
Connection to the Control Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
Ethernet point to point connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
Ethernet connection to the local network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
Remote connection via Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
Network configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .426
VPN configuration in Windows XP environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .427
Remote PC configuration (server VPN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .427
Local PC configuration (client VPN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .429
Connection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .432
Remote PC side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .432
Local PC side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .433
FTP Server mode connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Remote connection by Proxy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
Chat Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .435
WinC5G configuration in Proxy mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .435
WinC5G configuration in Remote mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .435
Auto Config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .437
Using the Chat Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .437
Disabling the Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .438
Connection by serial line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
User interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
Tools panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
The Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .440
File Translation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .441
Cause/Remedy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .442
History and Files operations viewing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .444
Files Manipulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .444
Axis check. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .446
Tool and Frame update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
Linear Shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .447
Linear Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .448
Mirror . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .449
Calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .453
Sysdata adjust . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .453
Turn difference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .453
Dialogue box for File Manipulation settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .454
Viewing and editing of .UDB file (optional feature) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .455
Directories Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
Files Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Output Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
WinC5G operating parameters set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Commands Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Files Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Edit Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
View Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
Manipulation Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
Help Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
Tools Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
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SUMMARY
Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
Quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
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Comau Robotics Product Instruction
SUMMARY
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Comau Robotics Product Instruction
PREFACE
PREFACE
– Symbols used in the manual
– Reference documents
– Modification History
This symbol indicates operating procedures, technical information and precautions that
if ignored and/or are not performed correctly could cause injuries.
This symbol indicates operating procedures, technical information and precautions that
if ignored and/or are not performed correctly could cause damage to the equipment.
This symbol indicates operating procedures, technical information and precautions that
it are important to highlight.
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Comau Robotics Product Instruction
PREFACE
Reference documents
This document refers to the C5G Control Unit.
The complete set of manuals for the C5G consists of:
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Comau Robotics Product Instruction
PREFACE
Modification History
– In version 01/1015 of current manual the following considerable modifications have
been made, with respect to previous version 00/0615:
• improving Emergency Stop pushbutton description, adding information about
new Quick STOP option
• added Restart notification description
• improved Right Menu description
• added description of multiple selection with touch method, for lists and tables
• added description of two new keys that allow, respectively, Removing and
Exporting Favorites from Desktop Page
• described the how to deal with conflicts between memory and disk contents,
during Restart from Home Page. Use of new View key
• improved EXCL command description in Alarm Page
• updated description of POS SHIFT functionality in Prog Page
• added description of Exporting to Flash Disk USB functionality, for Desktop
Page, Display Page, QUICK Page
• added description of Delete command to cancel already saved combinations
in Display Page
• updated description of VARS functionality to view ARRAYs elements (see
NOTE and Example - selecting array elements) in Display Page
• updated description of System Var functionality to handle predefined
variables not belonging to the displayed tree structure in Display Page
• added description of PalBooster in Setup page
• added description of Delete key in NoAlarm environment of Setup page
• modified description for the Teach Pendant BSP loading, par. 5.17.3.11.1
System and TP upgrade on page 293
• added description of Ethernet/IP functionality in FB_util Program - Fieldbus
modules utility
• added description of three new fields for mapping/modifying Analog Ports:
Scale factor, Zero offset and Unit, par. 11.4.2.1.1 Map or Modify - I/O points
on page 529
• Updated software options table, in Chap. Appendix - Software Options on
page 612.
– In version 02/0416 of current manual the following considerable modifications have
been made, with respect to previous version 01/1015:
• a new User Page has been added, Tips Page providing short descriptions
about the recently inserted most meaningful functionalties about Teach
Pendant and Control Unit
• added description about how to sort lists data, by columns headers (see note
in par. 5.6.2.8 List on page 81), in Prog Page and Files Page
• added description of the new Eco environment displaying the robot
consumption and forecast.
• considerably modified the description of the RoboSAFE environment for
service commands towards the Safe Logic Unit
• modified the maximum amount of X20 allowed modules.
• added description of the new Collision environment in Setup page - Motion
subpage, for Collision Detection functionality settings.
– In version 03/1116 of current manual the following considerable modifications have
been made, with respect to previous version 02/0416:
• eliminated the minimizing key, placed in the top rightmost corner of the page
(par. – Minimizing current page on page 77)
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Comau Robotics Product Instruction
PREFACE
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This chapter deals with general specifications that apply to the whole Robot System.
Considering its significance, this chapter is referred unreservedly in each system
instructions handbook.
1.1 Responsibilities
– The system integrator is responsible for ensuring that the Robotic System (Robot
and Control Unit) is installed and handled in accordance with the Safety Standards
in force in the country where the installation takes place. The application and use
of the necessary protection and safety devices, the issuing of declaration of
conformity and any EC marking of the system are the responsibility of the
Integrator.
The installation shall be carried out by qualified Personnel and must conform to all
National and Local standards.
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Comau Robotics Product Instruction
1.2.1 Purpose
These safety requirements are aimed to define the behaviour and obligations to be
observed when performing the activities listed in the Applicabilitysection.
1.2.2 Definitions
Robotic System (Robot and Control Unit)
Robotic system is the workable assembly composed of: Robot, Control Unit, Teach
Pendant and other possible options.
Protected Area
The protected area is the zone confined by the protection barriers and intended to be
used for the installation and operation of the Robot.
Authorised Personnel
Authorised personnel defines the group of persons who have been appropriately trained
and assigned to carry out the activities listed in the section Applicability.
Staff in Charge
The staff in charge defines the personnel who manage or supervise the activities of the
employed persons defined in the preceding point.
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Comau Robotics Product Instruction
at working speed.
Integrator
The integrator is the professional expert responsible for the Robot and Control System
installation and startup.
Misuse
Misuse is defined as the use of the system outside the limits specified in the Technical
Documentation.
Action Area
The Robot action area is the enveloping volume of the area occupied by the Robot and
its equipment during movement in the area.
1.2.3 Applicability
These requirements must be applied when carrying out the following activities:
– Installation and Startup
– Functioning in Programming Mode
– Functioning in Auto / Remote Mode
– Robot Axes Brake Release (if present)
– Maintenance and Repair
– Decommissioning and Dismantling.
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Comau Robotics Product Instruction
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– Connect the Robot to earth through the Control Unit or by means of specific ground
terminal blocks, depending on the predispositions available on the Robot and/or on
the Control Unit.
– If present, check that the Control Unit door (or doors) is/are locked with the key.
– A wrong connection of the connectors may cause permanent damage to the
Control Unit components.
– The Control Unit manages internally the main safety interlocks (gates, enabling
pushbuttons, etc.). Connect the Control Unit safety interlocks to the line safety
circuits, taking care to connect them as required by the Safety standards. The
safety of the interlock signals coming from the transfer line (emergency stop, gates
safety devices etc.) i.e. the realisation of correct and safe circuits, is the
responsibility of the Robot and Control System integrator.
In the cell/line emergency stop circuit it is necessary to include the contacts of the
Control Unit emergency stop push-buttons, available on X30. The push-buttons are not
interlocked inside the emergency stop circuit of the Control Unit.
If present, on the Control Unit, make sure that the setting of the stop circuit timer is
consistent with the type of Robot connected (for further details see the Control Unit
“Transport and Installation” manual)
– Check that the environmental and operating conditions do not exceed the limits
specified in the Technical Documentation of the specific product.
– The calibration operations must be carried out with great care, as indicated in the
Technical Documentation of the specific product, and should be concluded by
checking the correct position of the machine.
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Comau Robotics Product Instruction
– To load or update the system software (for example after boards replacing), use
only the original software handed over by COMAU. Scrupulously follow the system
software loading procedure described in the Technical Documentation supplied
with the specific product. After loading, always make some Robot moving tests at
low speed remaining outside the protected area.
– Check that the barriers of the protected area are correctly positioned.
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Comau Robotics Product Instruction
– In both cases operate cautiously, always remaining out of the Robot range of action
and test the cycle at low speed.
Before using the manual brake release devices, it is recommended to sling the Robot,
or hook it to an overhead travelling crane.
– The use of brake releasing device may cause the axes falling due to gravity, as well
as possible impacts due to an incorrect reset, after applying the brake releasing
module. The procedure for the correct usage of the brake releasing device (both
for the integrated one and module one) is to be found in the maintenance
handbooks.
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Comau Robotics Product Instruction
– When after the interruption of an unfinished MOVE the motion is enabled again, the
typical function of trajectory recuperation may generate unpredictable paths that
may imply the risk of impact. This same condition arises at the next restart of the
automatic cycle. Avoid moving the Robot in positions that are distant from the ones
required for the motion restarting; alternatively disable the outstanding MOVE
programmes and/or instructions.
If present, the safety components, in case of replacement, must be configured using the
same parameters of the components just removed.
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Comau Robotics Product Instruction
Disposal operations must be carried out in accordance with the legislation of the country
where the Robot System is installed; dispose the batteries, oils and other chemical
liquids respecting the environment and in accordance with the legislative standarts in
force, transfering them to the appropriate waste collection sites.
– The waste disposal operations are to be carried out complying with the legislation
of the country where the Robot and Control System is installed.
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Comau Robotics Product Instruction
USER INTERFACE
2. USER INTERFACE
2.1 Introduction
The C5G Control Unit, for robot manual handling, to create, modify and run programs,
to modify step-by-step movements, to supply system control and monitoring functions,
requires the following user interfaces:
– Teach Pendant (TP5)
– Interface on Personal Computer (WinC5G)
The following Fig. 2.1 and Fig. 2.2 illustrate the components of the Teach Pendant. For
more detailed information about modal selector switch, keys, pushbuttons, LEDs,
display and communication port, see the following Chap.5. - TP5 Teach Pendant on
page 52.
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Comau Robotics Product Instruction
USER INTERFACE
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Comau Robotics Product Instruction
USER INTERFACE
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Comau Robotics Product Instruction
USER INTERFACE
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3.1 Foreword
This chapter provides all information needed to switch the power on/off to C5G Control
Unit (see Fig. 3.1):
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Comau Robotics Product Instruction
Please note that date and time of the last system startup, are displayed in Service Page
- System - Info.
Wait at least 30 seconds after a power-off, before powering the Control Unit on again.
d. in order for the user to be able to use the Teach Pendant, the system activates TP5
display, executes the STARTUP Procedure, displays the Home Page and makes
the Teach Pendant ready to use
WARNING
If the TP software version does not match with the one on the Control Unit, a message
is displayed stating that the system will automatically align the two versions, within 15
seconds. Press ‘Cancel’ to avoid it. It is anyway recommended to align the sw versions.
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Comau Robotics Product Instruction
To handle automatic motion, please refer to Chap.10. - Start and Stop Cycle on
page 475.
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– At power on, the system displays the Connection Page shown in the above
diagram (step 1). Do not shutdown the system until operations are completed.
– If the connection step takes more than 45 seconds, some update operations could
be running for additional firmware modules. If so, the Teach Pendant displays a
different message (step 2), and the user must wait for the operation to be
accomplished, without powering the system off.
– If such a connection step takes more than 10 minutes, the system displays an error
information on red background (step 4). Please, be sure that both the Control Unit
has properly been started up and the connections towards the Teach Pendant are
correct. In some cases, switching off and subsequent switching on the system
could help fixing the situation. Always refer to the Cause&Remedy information,
related to the shown error message on the Teach Pendant display. Any time
an error code is displayed on the Teach Pendant, a key is made available in the
Functional keys menu to open the Cause&Remedy environment (see par. 5.10.1.2
Cause & Remedy Key on page 120).
– During all the described above situations, the Teach Pendant continuously tries to
connect to the Control Unit. As soon as the connection is ok, the Home Page is
displayed (step 3) on the Teach Pendant and the system is ready.
WARNING
During the startup phase the following error message could appear:
This could happen because the IP address of the Control Unit main Ethernet interface
has not been properly assigned at SETUP phase, e.g. due to IP address conflicts among
devices on the network.
CONNECTION FAILURE
During any working phase, the communication between Control Unit and Teach
Pendant could fail due to connection lost, upon communication time-out.
An alarm message is displayed on yellow background (step 5), indicating the elapsed
time from connection lost.
If it is not restored within 1.5 minutes, an alarm message is displayed on red background
(step 4 and step 6), with the error code, to ask the user to check both the Control Unit
and the Teach Pendant connection states.
As soon as the proper working situation is restored, the Home Page (step 3) is displayed
and the system is ready again.
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Comau Robotics Product Instruction
b.1 by means of the TP5 Teach Pendant - in the Home Page, issue Restart, Shutdown
command;
b.3 from within a PDL2 program - use SYS_CALL built-in routine, by specifying CCRS
command.
WARNING!
– In the case in which the command comes from within a program (by means
of SYS_CALL), it is suggested to always check the SYS_CALL returned state
in order to be able to handle possible anomalous situations.
c. 5 seconds later, the TP5 screen is cleaned off. Wait for at least 15 seconds more.
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Comau Robotics Product Instruction
4.1 Introduction
To access C5G Control Unit, regardless of the device from which dialogue with the
Control Unit is desired (Teach Pendant or WinC5G program from PC), a Login is
necessary, otherwise the only available commands are for viewing.
To terminate access to the Control Unit, so that unauthorised personnel cannot enter, it
is necessary to execute a Logout.
4.2 Login
If the user is working with the Teach Pendant, the Login functionality is available in the
Teach Pendant Home Page, either:
– by means of shortly touching the Login command, in the Functional keys menu
(highlighted in red in the following figure)
or
– by touching the Login field (highlighted in red in the following figure)
Using one of the listed above modalities, the system access environment (login/logout)
is then activated.
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Comau Robotics Product Instruction
When working on a PC (WinC5G program), the system asks the user to perform a Login
operation at connection time towards the Control Unit; it is available the SET LOGIN
(SL) command in the commands menu.
The following topics are now fully described:
– User profile,
– Summary table of access rights.
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Comau Robotics Product Instruction
4.2.1.1 Administrator
The only task of this user is to enter and/or delete the users in the data base (file .UDB)
that gives access to the system; therefore many other commands are not enabled for
the Administrator.
Each time it is wished to add (or remove) a user level, it is necessary to perform the
following steps:
a. enter the system as administrator user (Login key from the Teach Pendant Home
Page). If a new profile for the administrator has not already been defined, the
Username admin and the Password admin are predefined in the system;
b. to add a new user, issue either Add command, available by means of Users key,
in the Setup page, Login subpage on the Teach Pendant or CONFIGURE
CONTROLLER LOGIN ADD (CCLA) command and the associated option, from
within WinC5G, on a PC
c. to check that the insertion has taken place, select Login subpage, Users key in the
Setup page
d. perform the Logout to exit from the system as administrator: from the Teach
Pendant Home Page, select the Logout option by long touching the Login key
e. Login again entering the newly defined Username and Password, to check it has
been properly set;
f.1 issue Configure command, available in the Setup page, on the Teach Pendant, or
f.2 issue CONFIGURE SAVE ALL (CSA)command, from within WinC5G, on the PC.
4.2.1.2 Default
The type of user to be identified is the operator running a production line. The main
operations he/she requires are to start and stop programs, to delete alarms, manual
movements, override modification, restart and shut down of the Control Unit.
4.2.1.3 Programmer
The programmer user is enabled, mainly, to execute operations associated to the
development, the verification and the setting up of the programs.
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4.2.1.4 Maintenance
The type of user to be identified is the integrator. This user is more powerful than the
programmer.
4.2.1.5 Service
This kind of user represents the After Sales Service and is enabled to execute
operations connected to system updating, using commands for software loading and
machine calibration.
Access to the Control Unit with this profile, is exclusive: if a user connects to the system
as Service, it will be possible to connect to the Control Unit, from other devices, only
specifying the same Username and the same Password.
4.2.1.6 Technology
The Technology user allows accessing to some functionalities related to the currently
installed application, typical of such an application.
It implies the definition of some using levels depending on the application and the
INTEGER value which has been specified as a parameter at the profile definition time.
Please refer to the application manual to better understand which value is to be
assigned to such a parameter (indicating the technology).
It can be either associated to a profile chosen among Programmer, Service, etc. or
customized by means of the .UDB file, from within WinC5G (see par. 7.5.1.6 Viewing
and editing of .UDB file (optional feature) on page 455).
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Load configuration file .C5G and User Data Base file .UDB (CLA,CLC) M,S
Save configuration file .C5G and User Data Base file .UDB (CSA,
A,P,M,S P,M,S P,M,S
CSC)
Load programs in memory (ML). Save in UD: (MS) A,P,M,S P,M,S P,M,S
Delete programs (MEP), variables (MEV), both (MEA) from memory A,P,M,S P,M,S M,S
Program activation (PA), deactivation (PD), loading and activation
A,D,P,M,S D,P,M,S M,S
(PG)
Programs debug: temporary interruption of execution (PSP), resume
execution (PSU), bypass on suspensive instruction (PSB), breakpoint P,M,S P,M,S
insertion/deletion (PTB)
Change program step (PTS) P,M,S P,M,S P,M,S
Operations on Inputs (except access to privileged inputs) (Set Input…) P,M,S P,M,S P,M,S
Operations on Outputs (SetOutput…) P,M,S P,M,S P,M,S
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Comau Robotics Product Instruction
It is also allowed to set a startup login used by the Control Unit at each restart (either
(Setup page - System - Login - Startup command on the Teach Pendant, or
CONFIGURE CONTROLLER LOGIN STARTUP (CCLS)) from within WinC5G, on
Personal Computer).
4.3 Logout
If working with the Teach Pendant, apply a long touch on Login key in the Functional
keys menu in the Home Page, and choose Logout to start the logout operation.
If working on WinC5G, press the disconnection key, or select SET LOGIN (SL)/Logout
command from the command menu.
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– Data Page - the system closes all the open tables. For any modifications (either not
applied or not saved), the user is asked what to do; leaving the environment is only
allowed if the user answers to the prompt message.
– IDE Page - the system closes the current editing session. If such an operation
requires viewing one or more dialogue windows towards the user (for example
relating to the cursor position and modifications that have not been saved), the
automatic Logout procedure is suspended until the user answers these questions.
Leaving the environment is only allowed if the answer is a confirmation. On the
contrary, it is needed to suitably place the cursors manually befor closing.
For further information about configuring this functionality by the user, see Autologout in
the Setup page.
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5.1 Introduction
The current chapter provides detailed information on how to use TP5 Teach Pendant.
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Warning! The program ALWAYS starts at low speed, and the user, if wished, CAN
increase it to the working speed. If jogkeys are used, the system will AUTOMATICALLY
reduce the speed to below the limit of 250 mm/s at flange centre.
T1P Status
In addition to the standard T1 status which is suitable for programming, T1P staus exists
(which can be enabled/disabled by pressing the dedicated ‘T1P’ key in the Right Menu)
to better execute the technological processes in programming mode, always complying
with the safety speed constraint of 250 mm/s.
Note that T1P stauts DOES NOT refer to a different position of the modal selector
switch!
– AUTO - The operator can check the program functioning at working speed, by
activating the start commands from the Teach Pendant. The operator cannot work
inside the cell.
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5.3.1 Keys
The Teach Pendant keyboard is basically arranged in the following manner:
– Blue keys
– Black keys
– Other colours keys.
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– Special keys
– General purpose keys
– Navigation general keys.
– MENU
– SPLIT
– TOGGLE
– QUICK.
MENU
Pressing this key allows accessing the main page containing the icons of all the
available environments.
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Select the wished page by means of either the touch screen or the arrow keys.
Please refer to Chap. Desktop Page on page 93 for a detailed description.
SPLIT
Pressing the SPLIT key does not take any effect. It is reserved to future
implementations.
Viceversa, by pressing SHIFT and SPLIT keys at the same time, the currently displayed
page is captured.
If a USB flash disk is inserted into the USB port on the Teach Pendant, such an image
is saved to the TX: device; to TD: otherwise.
A suitable message warns the user about the capture (see next image).
TOGGLE
This key allows moving the cursor among the panels belonging to the currently active
page on the TP screen.
Example (see next image), the main page, called the Desktop Page, is composed by
three panels: Desktop, Active, Favorites.
The cursor circularly moves among such panels, upon each TOGGLE key pressure (in
the following figures, the cursor has moved from Desktop panel to Active panel).
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This key does not take any effect if the currently displayed page has just got one panel.
QUICK
Please refer to Chap. QUICK Page on page 325 for a detailed description.
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SHIFT
Always in combination with other keys; the use changes according to the environment
and the function of the key it is associated to.
MORE
When the Right Menu keys are more than 6, the MORE key allows scrolling of them all.
They are displayed circularly.
They allow moving among the different objects in the TP display; they can also be used
in combination with the SHIFT keys.
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5.3.1.2.1 BACK
Causes the movement backward, to the start position of the current movement, during
step-by-step checking of a program.
For further information refer to par. 5.12.3.2.8 Step on page 151, in IDE Page.
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5.3.1.2.2 COORD
5.3.1.2.3 ARM
In Multiarm systems, it is used to manage the index of the main Arm and the
synchronised Arm, with subsequent displaying in the Status bar, in exactly the same
way as by entering in the Motion Page, sub-page Basic and modifying Arm\SyncArm
field.
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In DRIVE-OFF - pressing ARM increases in circular mode the index of the main Arm,
never altering the Arm quantity in the Status bar (if there is only one Arm, it remains one,
if there are two Arms, two remain).
The new value is the first valid Arm index after an increment.
Pressing SHIFT+ARM increases in circular mode the index of the synchronized Arm. It
is the only combination of keys able to change the quantity of Arms in the Status bar.
It always passes to two Arms when there is only one Arm in the Status bar.
It returns to one Arm when the index of the second Arm becomes equal to the first Arm.
In DRIVE-ON - pressing ARM has two effects:
– if DRIVE-ON has taken place with only 1 selected Arm ($TP_SYNC_ARM[2]=0),
the Arm index is incremented, as for DRIVE-OFF;
– if DRIVE-ON has taken place with 2 selected Arms, the selection is inverted for the
Arm that will be moved with jog keys.
For example, if there are 3 Arms and the current situation is Arm: 2<1 , where Arm 2
is the one moved by jog keys, the index is NOT incremented (it does NOT change to 3)
pressing ARM key, but the situation becomes Arm: 1<2 , i.e. the Arm moved by jog
keys is now number 1.
The first displayed number is always the Arm moved by jog keys. SHIFT+ARM
cannot be pressed.
A LONG PRESSURE of the ARM key cyclically displays possible indexes of the main
Arm: when the required index is reached, releasing the key makes this choice definite.
While the key is pressed, the index is displayed in brackets. When the final choice is
made, the brackets disappear.
5.3.1.2.4 % + e -
They can be used to change the OVERRIDE. Combined with SHIFT key the following
values can be obtained:
– SHIFT -% --> 25%
– SHIFT +% --> 100%
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Such keys can be used to move the robot axes. Keys are available for all the axes the
Control Unit can handle, i.e. 1 to 10.
Note that, in some particular scenarios, JOG keys could be disabled by the System.
Please refer to either the Robot or the Control Unit Maintenance manual, to get more
specific information.
5.3.1.2.6 JPAD
The JPAD group allows jogging referred to the USER position. Furthermore:
– the two arrow keys on the left refer to movements along axis z: upward and
downward movements
– the four keys on the right are respectively for movements along x axis (upward
arrow and downward arrow) and along y axis (left arrow and right arrow). The
movements along x axis are for moving away, and for approaching the user; the
movements along y axis are for moving left and right, always referred to the user.
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WARNING
– for configuration with Integrated Portal (iPortal) with 2 linear axes, the JPAD
group is managed according to the actual configuration of the portal (e.g. if
it is configured as X and Z, the JPAD keys will consequently move the portal
X and Z axes);
– for configuration with Integrated Portal (iPortal) with 3 linear axes, the JPAD
group is managed in the following modality:
• the two left arrow keys refer to movements of the portal auxiliary axis
configured as Z
• the four right arrow keys refer respectively to movements of portal
auxiliary axis configured as X (up arrow and down arrow) and to
movements of auxiliary axis configured as Y (left arrow and right arrow).
The user position does NOT affect the JPAD functioning, and therefore the controls in
Advanced sub-page of Motion Page, DO NOT affect moving by means of JPAD.
Portal movement by means of JPAD is the same as by using JOG keys 7-8-9-10.
Please remember that any movement executed using JPAD is always according to the
user reference ($UFRAME), except for iPortal movements with 3 or 2 linear axes, which
are always joint movements.
The user position can be configured in the Advanced sub-page of the Motion Page.
– RESET (white)
– HOLD (yellow)
– START (green).
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Pressing this key allows resetting the ALARM state; in case in which the alarm has been
caused at safety devices level (e.g.: TP5 mushroom button, external mushroom button,
automatic line barrier, etc.), the alarm is not deleted until the cause has been removed.
The corresponding Red LED is associated to the RESET key.
Pressing this key causes all the HOLDable programs and all the ARMs movements to
be stopped. At the next pressure, the HOLD state is removed.
in PROGR mode it is used to execute the current statement (from either edit/debug
environment or EXECUTE command) for all the time it is kept pressed.
In LOCAL mode it runs the motion programs that are in READY state, waiting for this
key to be pressed.
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5.3.2.1 Pushbuttons
– Emergency Stop pushbutton
– Enabling Device.
On the front face of the Teach Pendant, at the top right position, there is the Emergency
Stop pushbutton; the operating modes are as follows:
– activate by pressing
– release by screwing (clockwise).
Upon this button pressure, the robot stop takes place with a controlled deceleration
ramp, according to IEC 60204-1 , class 1.
Upon pressing the Emergency Stop Button, if the Quick STOP option is active, the
deceleration time is reduced with respect to the standard deceleration time, with a
greater stress for mechanical components.
On the Teach Pendant rear there are two pushbuttons operating as the Enabling Device.
They are inclined in respect to the Teach Pendant plane, in order to allow the thumb to
easily reach the front keys (see Fig. 5.3).
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Right pushbutton and left pushbutton operate in exactly the same way.
Each of these is a three-position safety device that is to be kept pressed in the
intermediate position, to allow movements when the system is in Programming mode.
When this pushbutton is pressed the motors are automatically activated (DRIVE ON).
The type of operation for each of them is as follows:
– released - Drive OFF
– intermediate pressure - Drive ON
– fully pressed - Drive OFF (anti-panic)
– pressing both these pushbuttons at the same time is i an error, therefore only one
at a time is to be used. It is anyway allowed to press them both at the same time,
for a short predefined time interval, in order to be able to alternate hands.
A schematic diagram of the functioning is shown in Fig. 5.3.
5.3.2.2 LEDs
The available LEDs on the Teach Pendant front are the following:
– Green LED
– Red LED.
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As far as DRIVE ON and DRIVE OFF functionalities, please refer to Enabling Device
and Right Menu
When this LED, associated to the RESET (white) key, is blinking, it means whichever
Alarm (except Warning type indications).
It is recommended to use the USB port to connect a storage device such as a Flash Disk
USB one.
Only USB Flash Disk devices with a single FAT16 or FAT32 partition are supported.
Multi-partitioned devices are not supported.
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5.5 Display
The display of TP5 Teach Pendant is a graphic 6.4" TFT colour display; resolution
640x480 pixel.
It is composed by:
– graphic colour display,
– analog resistive touch screen,
– 7” TFT wide screen,
– LED backlighting,
– resolution 800x480 pixel,
– WVGA.
After a few minutes that it is not used, the display switches off; to switch it on again just
press any key.
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Restart notification
When the system detects the need of restarting, to make any saved modifications
operational, a flashing icon is displayed in the first field of the status bar. Such an icon
disappears as soon as the Restart operation is executed.
System state
Progr programming
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Arm state
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It is the currently active programs counter. It includes both the active programs displayed
in the Prog Page (Not Protected) and the not displayed ones (Protected).
Error messages
This field displays the last occurred error/alarm message. The message includes the
following information:
– signal code of 5 digits, which identifies each message in an unique way
– error/alarm severity level
– error/alarm message description string.
The background may be:
– transparent: no alarms/errors currently occurred;
– dark green: an INFORMATIONAL alarm is currently active. The system is NOT in
ALARM state
– blue: WARNING message
– white: the text is black. This is a Latched type message, so the user must explicitly
confirm it. To do so, from within the Alarm Page, remove the alarm cause and then
press Ack
– ochre: this is an error generated by the application process. The system is not in
ALARM state; the message disappears only when it is reset. To do so, from within
the Alarm Page, remove the alarm cause and then choose one of the available
commands in the Functional keys menu.
– red: this message is an ERROR message. The system is in ALARM state (an
example is shown in the following figure).
– purple: this is a FATAL message. The system is in FATAL ERROR state.
For further details about the messages management, see the related par. 5.10 Alarm
Page on page 119
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– Coord.
Alarm
Touch the leftmost field in the bar to directly access the Alarm Page.
GenOVR
This field, third from the right, displays the General Override current value for the main
Arm, as well as enabled/disabled state for incremental movement. if this field displays
the character 'I' (e.g.: '75%(I)'), it means that the system is in incremental movement
mode. In this case the background color is ochre.
Touch this field to directly access the simplified page to handle such data: Arm Override
Page.
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If the General Override is set to a value less than 1%, FINE string is displayed both
above the bars diagram and in the status bar, to indicate that the motion termination is
“fine”.
Furthermore, if General Override is decreased again, the displayed text string becomes
V-FINE to indicate that the motion termination is “very fine”.
Arm
This field, second from right in the bar, indicates the current combination of Arm and
SyncArm (if present).
In a Multiarm system with synchronised motion enabled, this field contains the number
of the main Arm first, and then the one of the SyncArm; example:
Arm:1<2 means Arm 1 is the main Arm and Arm 2 is the synchronised Arm.
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For information regarding modification of the Arm indexes (main and synchronised) by
means of ARM key, refer to par. 5.3.1.2.3 ARM on page 60.
Touch this field to access the associated simplified environment in which the user can
set the wished combination: Arm Settings Page.
Coord
This field, last field in the bar (see the following figure), displays the current modality
used for the coordinates in Jog movements.
Touch this field to access the associated simplified environment in which the user can
set the wished choice: Arm Settings Page.
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Pressing one key causes the corresponding command to be executed and its state to
be displayed (green led = active command; black led = NOT active command).
CAUTION!
About releasing the Right Menu keys, as soon as the user’s finger leaves one of such
keys, either for releasing it or for moving the finger towards the display border in order
to cancel the release command, such movement is ALWAYS and ONLY intended as a
RELEASE command and the associated functionality is then performed.
This means that any actions of pressing the Right Menu keys CANNOT be cancelled by
the user.
If the user wishes to create a customized Right Menu, it is necessary to write a PDL2
program as described in par. 5.23.2 Handling TP right menu on page 341.
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For a detailed description of the available pages and for any information related to their
use, as well as the general internal navigation rules, see User Interface Pages section.
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– Keyboards
– Connection Page
– Dialogue and information window
– Desktop Page
– Home Page
– Motion Page
– Alarm Page
– Prog Page
– IDE Page
– Display Page
– Appl Page
– Files Page
– Data Page
– Setup page
– Service Page
– Tips Page
– LUN_TP Page
– iTP Pages
– QUICK Page
– Customizations on the TP.
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– Handling errors
When needed, each time an error code is displayed, a dedicated Cause & Remedy
Key is available in the Functional keys menu allowing to read the Cause&Remedy
of the occurred alarm.
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In the shown above example, when touching such a key (highlighted in red), the
Cause&Remedy page is opened in which some detailed information can be found
about the possible cause and remedy related to the displayed error type.
– Common keys for Setup VP2 Pages
In the VP2 Pages activated from within Setup page, there are some common keys
with the following funcitonalities:
• Apply - modifications become operational and the program is not closed
• OK - modifications become operational and the program is closed
• Cancel - closes the program without saving any modifications.
Some samples are shown in the following pictures.
When this field type is selected, the system automatically opens the Numeric keyboard.
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5.6.2.2 Textbox
When this field type is selected, the system automatically opens the Alphanumeric
keyboard, unless the field includes or is intended to include a PDL2 statement: in such
a case, the PDL2 keyboard is automatically opened.
5.6.2.3 Combobox
When this field type is selected, a list is made available (in the above example, there is
a list of variables types) in which the user is allowed to choose the wished one. Tap such
an item and touch OK to confirm.
5.6.2.4 Combobutton
It allows opening a further page (the TOOL table in the above example). The displayed
text string depends on the current settings contained in such a page.
5.6.2.5 Checkbox
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5.6.2.6 Checkgroup
This field type is similar to the previous one (Checkbox); the only difference is that there
are two or more “buttons” and just one at a time can be activated.
5.6.2.7 Label
This field type can only be modified by means of the available key displayed in the
Functional keys menu, associated to the selected field.
When the background is GREY, the corresponding field can not be modified.
5.6.2.8 List
Lists can be displayed in the following ways:
– large icons - displays the information with a large icon
– details - besides the name and the icon of each item in the list, further information
is given (for example the size of the files and the date of the last change are listed).
– sort by
• name
• date
• type
• dimension.
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Touch the wished list element, to select it. For multiple selection of the list elements,
touch the first element of the selection and then the last element together with the SHIFT
key.
Furthermore, it is allowed to make a multiple selection by means of the touch method:
touching an element and dragging the finger (never detaching it from the screen)
towards subsequent or previous elements, all the touched elements are then selected.
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5.6.2.10 TreeGrid
It is a special table structure displaying information in rows which are connected by a
hyerarchical relationship, like a tree (see the figure below). Touch one row of the table
to open or close the “children” list of such an element.
5.6.3 Keyboards
Some general rules exist to be taken in account when using a keyboard:
– Cursor keys (up/down/right/left) can be used to move among the pages fields,
instead of touch keys
– SHIFT keys are always to be combined together with other keys; its use depends
on the environment and the functionality of the key it is associated to
– all keys existing on the touchscreen, i.e. “touchable” keys, activate the associated
functions just tapping them
– simple tap, double tap and swipe are available to select/modify a text. Further
details are provided in the following sections.
Available keyboards on TP5 Teach Pendant are:
– Membrane keyboard
always available (for the functionalities related to this kind of keyboard, please refer
to par. 5.3.1.1 Blue keys on page 55)
As far as these keys usage while editing values and texts, to substitute or help
using the Touchable keyboards, please refer to the specific environments (see
par. 5.6.3.1 Numeric keyboard on page 84 and par. 5.6.3.2 Alphanumeric
keyboard on page 85).
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– Touchable keyboards
available on the Display, depending on the context.
They are classified as:
• Functional keys menu
• Numeric keyboard
• Alphanumeric keyboard
• PDL2 keyboard.
In the example shown in Fig. 5.7, the numeric keyboard (figure on the right) is activated
by tapping the Day field (highlighted in red in the figure on the left - previous figures),
from DateTime page.
The value in the selected field can be modified by means of the following functionalities,
available from both the touchable keyboard and the Membrane keyboard:
– direct type the new value (1 - highlighted in green in Fig. 5.8)
– decrement/increment (2 - highlighted in blu in Fig. 5.8)
– big decrement/big increment (3 - highlighted in red in Fig. 5.8)
– up cursor - increment
– down cursor - decrement
– right cursor - move the cursor of one character right
– left cursor - move the cursor of one character left
– SHIFT + up cursor - big increment
– SHIFT + down cursor - big decrement
– SHIFT + right cursor - select/unselect (depending on the current state) the first digit
on the right of the cursor
– SHIFT + left cursor - select/unselect (depending on the current state) the first digit
on the left of the cursor.
– white ‘x’ in grey background - delete the whole field.
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Touch OK to confirm the new value. Touch Cancel to exit without modifying.
Please note that the maximum and minimum allowed values are displayed above the
edit field, if existing.
This keyboard is made available by the system, whenever editing an alphanumeric field
is required.
In the example of Fig. 5.9, the alphanumeric keyboard (on the right) is activated by
tapping on the Custom ID field (highlighted in red in the figure on the left).
The value in the selected field can be modified tapping the keyboard touchkeys.
Press OK to confirm the new value. Press Cancel to exit without modifying.
Several options exist, available both from the touchable keybaord and the Membrane
keyboard, to insert/edit an alphanumeric text string:
– capability of choosing among the 15 last used items.
When tapping the highlighted in red key, in the left figure below, the history of the
used items (up to 15) in the alphanumeric keyboard, is made available as shown
in the right figure below.
The user is allowed to choose one of them to be inserted in the current field; then
either tap OK or press ENTER to confirm.
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– standard use of the Copy, Cut and Paste touch keys (highlighted in red in the
following figure), for the currently selected part of text (e.g. ‘SIM’ text string)
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Typically, this happens in IDE environment but also in other contexts, e.g. EXECUTE
command or while creating a PDL2 macro in the QUICK Page.
In the shown example (see Fig. 5.10), touching the command or the field for inserting
the instruction, the PDL2 keyboard is opened by the system.
A statement can be directly typed in by means of the keyboard: the editing modality for
text strings is exactly THE SAME as described for the Alphanumeric keyboard.
The significant difference between the PDL2 keyboard and the Alphanumeric one
consists of
– dedicated touchable keys (available in the Functional keys menu):
• Statement
• Variables
• Change
– dedicated History function.
5.6.3.3.1 Statement
This functional key opens the menu containing the available PDL statements, among
which the user can choose the wished one (see figure below, on the left).
Touch an icon (e.g. Flow) to cause the statements belonging to such a group to be
displayed (see figure below, on the right); then touch the chosen statement twice or
touch it once and then press ENTER, to finally insert the statement.
Moving the cursor on the statements icons, a string (help) is displayed above the
functional keys menu, describing the currently selected statement.
In the functional keys menu a key is available Add to favorites, in order to add the
wished statements to the favorite items to be able to retrieve them in an easier way in
the future.
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5.6.3.3.2 Variables
It opens the environment for viewing all existing variables (following figure on the left)
and creating new ones (following figure on the right).
Touch the New... command to create a new variable. Then the dedicated page is
opened (previous figure, on the right).
5.6.3.3.3 Change
This key is available just if the currently selected text is a PDL2 reserved word
representing a value; it allows accessing all the available values of such a type and
selecting the wished one.
In the following example, selecting the reserved word ‘TRUE’ activates Change key; the
pull up menu displays all the available choices for such a type. Touch the wished value
to insert it into the statement.
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5.6.3.3.4 History
Touch the symbol highlighted in red in the following figure (on the left), to open the
History page associated to the PDL2 keyboard. It includes the following information:
– last 15 used STATEMENTS (Recent section)
Touch the wished element to select it, then either touch OK or press ENTER to confirm.
Such an item is inserted in the current program line.
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For further details about the system behaviour in such situations, as well as about
displayed messages with different severity, please refer to the CONNECTION FAILURE
note, in par. 3.3.1 STARTUP Procedure on page 42.
If the user does not wish to answer back to the system request, He/She should press
the ESC key.
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While running, the Abort command is made available to be able to permanently interrupt
the command (see the figure below).
In the most cases the execution is so fast that the blue page isn't even seen by the user.
According to the command execution status, the following situations might occur:
– the command has been successfully completed. The system could
• display no messages because this status is already obvious;
• display a message (blue background) in the Error messages field, stating that
the command has been completed;
– It has not been possible to execute the command - the system displays a message
with a yellow background, to explain to the user the problems found. The following
softkeys are available:
• Login - if the error message is “Insufficient Rights”, this means that the Login
operation has not been performed yet. The user has to press Login key to do
so. After the login operation is accomplished, the system will automatically
execute the previously requested command again.
– It has not been possible to execute the command - the system displays a message
with a yellow background, to explain to the user the problems found. The following
softkeys are available:
• Continue - if the command consists of a sequence of several operations, it
may happen that one or more cannot be executed. In this case the system
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stops the command execution and informs the user: if the user wishes to skip
the current operation and go on executing the following one, the Continue
key must be pressed.
• Closing key - quits the current command. In case of operations sequence, it
does not execute the subsequent commands and quits (see par. 5.6.1
Common keys on page 77).
• Retry - if the system stops the command execution for any reason, the user
can remove the problem and then press this key: the command will be run
again.
• Cause & Remedy Key - displays detailed information about the current error,
first of all its cause and the related remedy, if existing.
• Close - exits from the current command. In case of sequence of operations,
it does not run the subsequent commands and quits.
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DESKTOP PAGE
5.7.1 Overview
This Page is always active; it allows accessing all the User Interface Pages.
From within whatever environment, the user is always allowed to view the
Desktop Page by simply pressing MENU special key belonging to the membrane
keyboard.
NOTE
The user can go back to Desktop Page main view any time, by pressing the MENU key
twice, irrespective of the currently active subpage.
To go back to the subpage which was active before pressing the MENU key, just use
Active panel.
5.7.2 Desktop
Fig. 5.12 - MENU Page - Desktop Panel
This panel includes all the icons allowing access to the User Interface Pages. Either
touch the corresponding icon or use the cursor keys and then press ENTER to confirm,
to activate the wished environment.
In the Functional keys menu the following keys are available (see Fig. 5.12):
– Add favorites (highlighted in red in Fig. 5.12) - it allows adding the currently
selected environment to the “favorites” list.
In the shown below example, the selected environment is Motion. The Add
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DESKTOP PAGE
– View change (highlighted in blue in Fig. 5.12) - it allows switching to the viewing
by rows mode, in order to be able to view icons with very long titles too.
See also par. 5.6.1 Common keys on page 77.
– Properties - it allows viewing the Property Nostes corresponding to the currently
selected object.
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DESKTOP PAGE
As far as handling each User Interface Pages, please refer to the dedicated chapters.
5.7.3 Active
Fig. 5.13 - MENU Page - Active panel
In the previuos figure, touching the above described key causes the Alarm Page
environment to be immediately closed.
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DESKTOP PAGE
5.7.4 Favorites
This page displays the icons corresponding to the “added to favorites” environments
(see par. 5.7.2 Desktop on page 93).
The associated environment chan be activated by simply touching the existing icons.
5.7.4.1 Removing
A key is available in the Functional keys menu, to Remove favorites (highlighted in red
in the following figure).
The currently sected icon is removed from the page, by simply touching such a key. The
user is anyway asked for confirmation, before completing the operation.
In the above example, if the answer is Yes, the icon of the Motion Page is then removed.
5.7.4.2 Exporting
One more key is also available, represented by a USB Flash Disk icon (see previous
figure, on the left - highlighted in blue): it allows Exporting favorites to an external device,
currently inserted into one of the system USB ports.
To activate exporting, simply touch such a key (see the above figure) and select the
wished USB port.
The user is asked for confirmation before starting the export operation.
Answer Yes to start the export procedure. A suitable message is displayed to notify the
operation completion (see next figures).
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DESKTOP PAGE
The name of the newly created folder onto the USB Flash Disk is MyFAVORITES; it
includes all currently added favorites.
Touch the Closing current page key to close the Export environment.
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HOME PAGE
It is the System basic page, i.e. the one including all the basic information and allowing
System power on and power off, as well as accessing Control Unit (login and logout).
The following topics are described:
– Basic information
– Commands.
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HOME PAGE
5.8.1.3 Motion
Touch this field (highlighted in red in the above figure on the left) to access the Motion
Page.
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HOME PAGE
In case in which both C5G and TP5 software versions are the same, the information is
displayed on one line only (see previous figure on the left).
Touch this field to directly access the Info subpage in which System information is
displayed (as shown in the below figure, on the right)
Touch it to directly open the system access environment (Login and Logout).
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HOME PAGE
The difference between British English and American English is just in the format used
for the date and the time.
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HOME PAGE
Please refer to par. 5.23.6 Creating user tiles in the Home Page on page 352, for a full
description of the creation procedure.
An example of user tiles is shown in the previous right figure.
Simply touch an available user tile, to activate it.
5.8.2 Commands
The available functions for this page, in the Functional keys menu, are as follows:
– Login and Logout
– Restart.
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HOME PAGE
This command, depending on how the associated key is touched, allows to perform the
following operations:
– Login,
– Logout..
5.8.2.1.1 Login
Short touch allows accessing the system by authorized personnel; the system asks for
username and password for executing the wished login type (see the following figures).
Specify the needed data and either touch OK or press ENTER, to confirm.
For further information about LOGIN, refer to Chap.4. - Access to the Control Unit
(login/logout) on page 45.
For user settings, open the Login subpage in the Setup page.
5.8.2.1.2 Logout
Long touch makes available the associated command to activate the Logout procedure
(see the figure below, on the left).
A message informs the user when the logout operation has been successfully
completed (see the figure below, on the right).
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HOME PAGE
A specific Automatic Logout function is also available (see par. 4.3.1 Automatic Timed
Logout on page 50).
CAUTION - The Logout procedure could not continue in case in which there are any
unresolved situations, such as an open and modified program in IDE Page or open and
modified tables in Data Page. The user is invited, by means of suitable informational
messages, to decide how to close such environments. Then the Logout command will
be properly accomplished.
5.8.2.2 Restart
Touching this key, a pull-up menu is opened as shown in the following figure.
5.8.2.2.1 Cold
This command performs the Control Unit complete Restart.
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HOME PAGE
As far as the startup procedure, refer to par. 3.3.1 STARTUP Procedure on page 42.
When selected, the system propts the user for confirmation, before running the Restart
Cold procedure (see the figure below, on the left)
A key is made available in the Functional keys menu, referred to as View command (see
figure above, on the left). Touching it, the involved files are displayed (e.g. figure above,
on the right), allowing the user to handle them and complete the restart command with
a consistent situation.
For further information about Restart Cold operation, refer to Chap. System
Commands on page 355.
Note that, at the end of the Restart operation, the current directory is
UD:\USR
5.8.2.2.2 Shutdown
This command performs the Control Unit shutdown.
When selected, the system propts the user for confirmation, before running the
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HOME PAGE
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MOTION PAGE
5.9.1 Basic
Fig. 5.15 - Basic sub-page
5.9.1.1 Arm\SyncArm
It is a menu showing the Arm/Synchronized Arm combinations currently existing in the
system.
To modify such a configuration, touch the field and select the wished choice in the Arm
Settings Page which is automatically opened by the system (see Fig. 5.16 - figure on the
right).
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MOTION PAGE
5.9.1.2 COORD
This field indicates the current coordinates system according to which the arm moves
will be made, in manual movement and in programming. The user can choose a
coordinates system that is different to the current one, selecting from the following (as
shown in Fig. 5.17):
– for TP JOG mode:
• JOINT
• BASE
• TOOL
• UFRAME
– for the WRIST mode (movement carried out to the robot wrist):
• WR-BASE
• WR-TOOL
• WR-UFRAME
To modify such a configuration, touch the field and select the wished choice in the Arm
Settings Page which is automatically opened by the system (see Fig. 5.17 - figure on the
right).
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MOTION PAGE
To act on the wished reference frame, touch the corresponding field. The available
sub-environments are as follows:
– Tool and Frame
– Base.
Note that the selected Tool must always be consistent with the selected Frame. If, for
example, a remote Tool is to be chosen, the user must take care of choosing a Frame
with the same attribute. At the end of the modifications, the needed check are performed
and any invalid settings are refused.
When the user chooses to modify either Tool or Frame, touching the wished field
causes the corresponding Data Page table to be opened.
Touch the row of the wished either Tool or Frame and confirm the coice by touching OK
key.
Act in the same way to choose the other item, if needed, by either confirming the current
value or selecting a different one.
An example is provided in the following figures, of choosing the Uframe.
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MOTION PAGE
Touch Cancel key to exit from the sub-environments without making any modifications.
5.9.1.3.2 Base
Note that, unlike what happens for Tool and Frame, the Base can be autonomously
selected, not related to the other two reference frames, so no consistency checks are
performed.
When it is wished a Base changing operation, the system displays the corresponding
Data Page table. Touch the wished Base row and confirm it by touching OK key. The
control is given back to the Basic Motion page.
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MOTION PAGE
Touch Cancel key to exit from the sub-environments without making any modifications.
If the axis is NOT calibrated, or has lost the number of revolutions, these values are NOT
available (and the '--' string is displayed).
5.9.1.5 Payload
Indicates the payload value.
For further information, see par. 5.12 Integrated Movement on page 78 in Motion
Programming Manual.
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MOTION PAGE
This section is read-only and displays information about the currently active
cooperations status. See example in Fig. 5.21.
5.9.2.2 COOP
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MOTION PAGE
5.9.3 Advanced
Fig. 5.22 - Advanced subpage
5.9.3.2 J-Pad
For further information see also the JPAD keyboard description.
This section is divided into two parts, as can be seen in the figure below:
– Type (Linear/Angular)
These fields indicate whether, using JPAD, the robot makes a linear move (Linear)
or a rotation (Angular).
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MOTION PAGE
– Angle
This field indicates the user position in relation to the robot; such a position is
pointed out by the Teach Pendant icon, which moves to the requested angular
position, around the robot. Touching the Angle field or when the focus is on it,
some commands are made available in the Functional keys menu (front 0°, back
180°, right 90°, left-90°) which allow quicker specifying the new User's position.
However, the value may be modified directly touching the Angle field and typing
the new value in the Numeric keyboard which is automatically opened by the
system (see figure below on the right).
5.9.4 Status
Fig. 5.24 - Status subpage
The Status sub-page is related to the Arm state (red) and the Axes state (yellow).
For the Arm state (red) the available values are:
– Need for Unlock, Not in LOCK, Need to Resume
– Simulated, Unsimulated
– Mov. enabled, Mov. disabled
– DRIVE ON, DRIVE OFF - state of drives
– Stroke end enabled, Stroke end disabled.
– On trajectory, NOT on trajectory
– Absolute Accuracy enabled/disabled - the machine is/is NOT kinematically
compensated.
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MOTION PAGE
Furthermore, some optional fields are provided which are displayed only if the
corresponding optional functionality has been purchased:
– Coop (optional feature)
– Collision Detection (optional feature)
– Palletizing (optional feature).
When navigating on these fields, in the Functional keys menu there are commands
available, that correspond to the selected state, and allow it to be changed. For example:
For the Axes state (yellow in Fig. 5.24), the available values are:
– calibrated
– NOT calibrated
– NOT in Turn-set
– NOT connected, for example in case of electric gun change
– NOT Present.
Also for the Axes state, touching the different fields or moving focus onto them, some
keys are shown in the Functional keys menu that correspond to the selected state, and
that allow to modify it.
For both the state of the arm and of the axes, under normal operating conditions, all the
text strings of the different fields are BLACK; otherwise in case of an anomalous arm
condition or if the calibration or Turn-set data is missing, the colour is RED.
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MOTION PAGE
When the field representing the Collision Detection status either is touched or focus is
on it, a command is made available in the Functional keys menu, to allow enabling
(Enable Coll.) or disabling (Disable Coll.) the functionality, depending on the current
status (see Fig. 5.26 - red highlighted keys).
When the field representing the Palletizing status either is touched or focus is on it, a
command is made available in the Functional keys menu, to allow enabling (Enable) or
disabling (Disable) the functionality, depending on the current status (see Fig. 5.27 -
red highlighted keys)).
In the Status bar, when the Palletizing functionality is enabled, the string ‘Pallet’ is
displayed.
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5.9.5 Override
Fig. 5.28 - Override sub-page
The Override sub-page contains the overall pre-defined values (red) and single joints
(yellow) relating to the current arm. All the information can be changed by the user by
touching the wished field. The system automatically opens the Numeric keyboard
(Fig. 5.28, on the right) and the user is allowed to insert the new value.
For further details about the above mentioned predefined variables, please refer to
PDL2 Programming Language Manual, chap.PREDEFINED VARIABLES.
The left section in the above figure is read-only and displays the Conveyor current
status:
– Active table - is the index of the currently active $TRK_TBL table
– Conveyor type
• 0: linear cartesian tracking;
• 1: circular cartesian tracking;
• 3: trans-rotational cartesian tracking (Robot controlling a bending-press).
– Position - is the conveyor current position, in mm
– Velocity - is the conveyor instantaneous velocity, in m/s
– Angle - only existing for conveyor of type 3 (trans-rotational cartesian tracking) and
representing the V-opening in radians
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– Windows - the first value represents the conveyor quote from which the robot must
start with tracking; the second value represents the conveyor quote after which no
tracking with the robot is allowed
– Error - indicates the conveyor error status. When red, resetting it is allowed by
means of Reset Err. key.
The right section includes some menus to set up the CONV_TRACK built-in routine
parameters:
– Command - this menu allows choosing among one of the following commands:
• Initialize - initialize (-1)
• Initialize + On - initialize and activate (1)
• On - activate (2)
• Off - deactivate (0)
– Table Index- is the index of the tracking table in which new settings are wished
– Arm - is the number of the Arm involved in the tracking functionality
– Offset - is the distance between the sensor and the being tracked object, at the
conveyor initialization time; the default is 0.
When the CONV_TRACK built-in routine setup is completed, touch Conv_Track key to
execute it.
For further information, please refer to par. 5.17.2.5 Conveyor on page 247 - Setup
page).
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ALARM PAGE
Sometimes, some alarm messages could occur for which it is not so easy to understand
the error cause and the corresponding remedy.
In such scenarios, to better decide what to do, it is suggested to use both the Control
Unit and the specific Robot Maintenance manuals.
5.10.1 Active
The Active sub-page displays the active alarms, i.e. alarms that require confirmation
from the user, and provides the following information:
– alarm ordinal number
– date and time
– error code and severity
– message text
Alarm code, severity and message text are also displayed in the Status bar, as long as
the alarm is active.
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The EXCL key allows excluding, for a limited time interval, the effect of alarms such as
those related to an electrical stroke end.
This key is always available. As soon as the axis is moved beyond the electrical stroke
end, an error message is generated and the robot is put to DRIVE OFF state. To exit
from such a scenario, touch EXCL key, switch the system to DRIVE ON state and jog
the axis in the opposite direction in respect to the one of the stroke end.
5.10.1.1 Ack
To confirm an alarm, touch it to select it. In such a way the Ack command is made
available in the Functional keys menu allowing to confirm the selected alarm (see the
figure below).
The user should also use this page to confirm the so called latched alarms, to clear
them from such status.
For further information about Latched alarms, refer to PDL2 Programming Language,
manual, $LATCH_CNFG predefined variable.
Touching this key (highlighted in red in the left image) causes a page to be opened
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containing some detailed information about the cause and the corresponding remedy for
the current error (right image). The same happens by touching the alarm code
highlighted in blue in the left image).
At the end, close the Cause&Remedy page by means of the dedicated close key.
5.10.2 History
It is a unique log environment, including both trace of the occurred Errors and the
performed Actions on the Control Unit.
By means of Errors and Actions functional keys, the user is allowed to filter the log
messages viewing, by including the ones and/or the other ones, depending on his/her
specific needs.
For each occurred error (errors log), the following information is displayed:
– alarm ordinal number
– date and time
– error code and severity
– message text.
Use the cursor up/down keys to scroll them all.
The errors that are stored in the errors LOG file are only those that change the system
state.
If further errors or actions occur while the History page is displayed, a Refresh key is
made available in the Functional keys menu (next figure).
The occurred events are added to the currently displayed History page list, by simply
touching such a key.
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Furthermore, the Cause & Remedy Key is available in the Functional keys menu to get
information about the possible cause and remedy related to the selected element.
5.10.3 Notifications
The Notification subpage displays alarms with severity 2 (warning), generated by
means of ERR_POST. They are inserted in a circular buffer of 50 elements.
Please refer to Chap.Built-in Routines List in PDL2 Language manual for a detailed
description of ERR_POST and its bit 28 usage.
All warning messages for which a notification is expected, are displayed in this subpage,
with the following information:
– alarm ordinal number
– date and time
– error code and severity
– message text.
Use the cursor up/down key to showthem all.
They DO NOT need any acknowledgment nor they can be eliminated from the subpage.
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PROG PAGE
Programs Categorization
Programs for the C5G Control Unit are written in PDL2 Programming language.
We can classify them into two main categories, depending on the assigned
holdable/non-holdable attribute:
– ‘holdable’ Programs (i.e with HOLD attribute) - their execution is controlled
by the HOLD (yellow) and START (green) keys; a Program including motion
statements MUST be a ‘holdable’ Program.
– ‘non-holdable’ Programs (i.e with NOHOLD attribute) - they are usually used
for process controlling. They CANNOT include motion statements, even if
they are allowed to use positional variables as well, for other purposes.
The default attribute is HOLD; if it is wished to write a ‘non-holdable’ Program, it is
needed to explicitly insert the NOHOLD attribute.
In this page a table is displayed , including the loaded programs list in the execution
memory.
The program state is also specified by means of a specific font (see previous figure),
used for any related information and having the following meaning:
– bold - the program is Active
– italic - the program has been modified but not saved yet.
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5.11.1 Memory
Fig. 5.29 - Memory menu
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– Load...
– Load (with option)
– Save
– Save data
– Save code
– Save variables as
– Erase from execution memory.
5.11.1.2 Load...
Loads the selected program(s) and the corresponding variables file(s).
The user is allowed to specify the wished device, directory and file before activating such
a command, as well as setting some options.
To be able to use a different Device than the current one, just touch Disk key and
choose the wished item in the Device change list (see next figure).
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5.11.1.2.1 Activate
Touch this item to load the selected program into execution memory and activate it.
5.11.1.2.3 Dependencies
In addition to the requested program, this option automatically loads code and vars of
any programs that are called up by it.
If the referred files are in different directories than the loaded program, it is necessary to
set $DEPEND_DIRS predefined variable with the search path to be used by Load
command.
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5.11.1.4 Save
Save in UD: code and variables of a program, from the execution memory in a file on
the default device.
See NOTE regarding the total amount of entries in the UD: root directory.
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This submenu contains commands to delete a program and its variables from the
execution memory. If other programs are associated to a routine or to variables of the
being deleted program, an error occurs.
The available functions provided are as follows:
– Erase code and variables - Cancels both selected program code and variables.
– Erase code only - Cancels the selected program code only.
– Erase variables only - Cancels all the selected program variables.
5.11.2 Edit
Touch this key to access a menu which operates on the displayed programs.
The available commands are as follows:
– Select All
– Deselect All
– Invert Sel.
Multiple selection
Multiple selection of elements is available by using both SHIFT and ENTER keys at the
same time, when the cursor is placed onto the being added program.
Note that the currently selected program is always included into the selection.
Furthermore, it is allowed to make a multiple selection by means of the touch method:
touching an element and dragging the finger (never detaching it from the screen)
towards subsequent or previous elements, all the touched elements are then selected.
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5.11.3 Program
As shown in the figure below, the available choices are as follows:
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– Open [ENTER]
– Activate
– Deactivate
– Reset
– Pause
– Unpause
– Step.
If the selected program is a NOHOLDable one, the user is allowed to open it in text editor
mode, within the Prog environment, so that the IDE environment functionalities are
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available.
Before opening such an edit session, the user is asked for confirmation, as shown in the
following figure.
Make the wished modifications and close the file saving it (touch File key and choose
Save item).
Caution!
The performed modifications are just saved to disk. Load the program to execution
memory (see Memory menu, Load... command) in order to make them operational.
A suitable message is displayed to warn the user about that.
5.11.3.2 Activate
Allows to start the execution of the selected program. If it is a holdable program, the
command sets it in Held state; press START (green) key to start the execution.
On a non-holdable program, the command has immediate effect and sets it directly into
Running state.
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Only one holdable program at a time can be activated, unless the DETACH attribute is
specified in the header of the programs which are to be simultaneously executed.
Before the program is activated, it has to be already loaded into the execution memory
(Load... ).
5.11.3.3 Deactivate
Deactivates the selected programs which, anyway, still remain in the execution memory.
5.11.3.4 Reset
This command allows deactivating the selected programs and then activating them
again.
The system displays a suitable message to prompt the user for confirmation (see the
figure below).
Answer Yes to make the command operational.
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5.11.3.5 Pause
Suspends the execution of the selected programs, setting them to Suspended state. To
continue the execution it is necessary to issue the Unpause command
5.11.3.6 Unpause
Resumes the execution of the selected programs, removing them from the Suspended
state. The program is set to the Running status provided that no other program
suspension condition subsists. To resume the execution of holdable programs, START
(green) key has to be pressed.
5.11.3.7 Step
This menu allows defining the program execution step.
It is mainly used upon the program debug.
Usually, the program execution is continuous, i.e. without interruption. The execution
step allows defining the moment in which the program execution shall be interrupted.
A new execution step is started each time the START key is pressed.
The available commands are:
– Statement - The execution is interrupted at each statement. The protected
Routines (whose body is not displayed) are run as they were a single statement;
the execution of non protected Routines (whose body may be displayed) is
interrupted at each statement.
– Disable - Stops the step-by step execution and hence the program is run in
continuous mode.
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– Routine - Similar to Statement, however routines are run as they were single
statements.
– MOVE - The execution is interrupted at each individual movement. This is not
allowed on non-holdable programs.
– MOVEFLY - Executes fly movements before interrupting the program execution.
Similar to MOVE, however the program execution does not stop after the
MOVEFLY statement. This is not allowed on non-holdable programs.
– CYCLE - Defines an individual program cycle, as the step option; the selected
program must contain the CYCLE or BEGIN CYCLE statement.
5.11.4 View
This menu provides some commands to customize programs viewing, according to
some wished filters (Only) and Levels.
The currently active filter and level types, are displayed in the field below the programs
table (as highlighted in the below figure).
5.11.4.1 Only
5.11.4.2 Level
This command displays the allowed actions level for the selected program. Both
viewing actions and editing actions are available.
For further information about levels, refer to par. HANDLING PROGRAMS EDITING
AND VIEWING LEVELS on page 142.
The current Level is displayed, together with the current filter (Only command), in the
line above the Functional keys menu (see previous figure, highlighted in red).
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5.11.5 Details
Allows the user to display some specific data related to the selected program.
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When any of the variables is selected, the following keys are available in the Functional
keys menu:
– Window
– Edit
– Add...
– Assign
– View.
5.11.5.1.1 Window
This key opens a menu including commands related to the viewing window:
– Open...
– Save...
– Save view as...
– Save values.
Open...
This command allows opening a previously saved viewing, passing through the main
page of the Display Page environment.
Save...
This command allows saving the current viewing in the SAVED folder of the Display
Page environment. The involved file is the currently open one.
If there are NO open viewing files, the user is asked to specify a new filename.
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Save values
This command allows saving, to the execution memory, the modified variables values.
5.11.5.1.2 Edit
This key opens a menu including commands to select and cancel variables, as well as
to modify their values:
– Select All
– Deselect All
– Invert Sel
– Delete
– Delete all
– POS SHIFT.
Select All
This command selects all the currently displayed variables.
Deselect All
This command unselects all the currently selected variables.
Invert Sel
This command selects the unselected variables and unselects the currently selected
ones.
Delete
This command deletes from viewing the currently selected variables only.
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Delete all
This command deletes from viewing all the displayed variables.
POS SHIFT
This function allows “moving” in the space, positions that belong to the selected
program, modifying its coordinates.
Typically, it is useful to translate the execution of an already taught path, by acting on
the positions belonging to such a path.
Touching this key, a page is opened in which the user is allowed to specify the wished
offsets, related to the current components for X, Y and Z (the inserted values represent
the translation millimeters along all three directions of the cartesian coordinates
system), as well as to select the wished reference frame, as shown in the below figure.
If the selected variable is just one, the system displays its name and the corresponding
modifications are just referred to it (see the highlighted area in the previous figure).
Viceversa, when more than one variables are selected (as shown in the following
example, figure on the left) the system displays the text “multiple selection” instead of
the variable name (see the following figure on the right) and the translation is referred to
all the selected variables.
5.11.5.1.3 Add...
This command allows adding some new elements to the current viewing. It is very useful
when, besides the current program variables, it is wished to view also some I/O points,
predefined variables or some other programs variables.
In such a case, the Display Page environment viewing functionality is automatically
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used. This command opens the main page of such an environment, in which the icons
of all the viewable Elements are available (see the following figure).
One or more elements can be added by simply touching the corresponding icon.
Please refer to Chap.5.13 - Display Page on page 170 for further details.
5.11.5.1.4 Assign
This command allows assigning a value to the selected variable.
On
Assigns TRUE value to the selected BOOLEAN variable or I/O point.
Off
Assigns FALSE value to the selected BOOLEAN variable or I/O point.
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Value...
Assigns a suitable value to the INTEGER, REAL, STRING, etc. selected variable.
Current position
Assigns the arm current position to the selected positional variable.
5.11.5.1.5 View
This command allows choosing how to view the selected elements:
– ProgressBar
– Format.
ProgressBar
This command allows viewing analog ports by means of a Progress Bar.
Format
This command allows specifying the base in which the selected elements values are to
be viewed:
– Binary
– Octal
– Decimal
– Hexadecimal.
5.11.5.2 Callchain
Displays the nesting of routines calls for the selected program (see Fig. 5.30).
The following information is given:
– routine name
– number of line where the call is made
– status
– program the routine belongs to (owner)
– program context (type): main, interrupt routine, routine, etc.
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5.11.5.3 Properties
Allows displaying the Property Notes of the file including the selected program
(see Fig. 5.31).
– revision
– title
– help
– version
– date - creation date
– Author
– Host - host device on which the file has been created
– User View Level - user level for viewing actionslivello utente per la modifica
– User Modify Level - user level for editing actions.
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GLOSSARY
It is recommended to carefully read the following glossary, since in this paragraph the
terms MODAL and NODAL are often referred to.
Such words are to be understood as follows:
– modal - move and destination instructions only (example: MOVE TO pos1)
– nodal with clause WITH - settings that are only valid for the instruction where
they are specified.
– customized nodal - very compact syntax, containing in a single line all the
customising required by the customer. The description of this type of
instruction is not contained in the standard manual, but only in the Nodal
Moves manual, handed over to the customer for whom it has been
developed. Therefore it is not dealt with herein.
Accessing the IDE Page can be performed in one of the following ways:
– from the main page, i.e. the Desktop Page, by choosing IDE icon, or
– by means of Open [ENTER] command, from within the Prog Page.
In such a case the selected program is opened. It must be a HOLDable program.
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Touching one of such latest two fields, the corresponding TOOL or FRAME table is
opened in the Data Page environment.
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can edit and debug the active program, as well as follow its execution (see note about
Displaying the currently being executed statement).
For an easy and efficient use of the editor area, the colours in which the program lines
are displayed and the cursors that point to them have special meanings.
A detailed description follows of:
– Colours
– Cursors.
5.12.2.2.1 Colours
The different components of the program lines are displayed with different colours, as
follows:
– comment - green, bold
– key word - black, bold
– reserved word - blue
– variable name - black
In the figure below an example is shown about the listed above components.
1 - comment
2 - value
3 - keyword
4 - reserved word
5 - variable name.
5.12.2.2.2 Cursors
Three types of cursor could be displayed:
– EDIT CURSOR
– EXECUTION CURSOR
– MOTION CURSOR.
EDIT CURSOR
It corresponds to the instruction that may be modified by the user. The complete
instruction line is highlighted with background:
– light green - editable line. Press ENTER to enter editing mode on the selected line
– yellow - line in editing mode.
During the editing session, the user can operate in one or more of the following
modalities:
– editing an already existing program line - just move the edit cursor to the involved
line and touch twice or press ENTER. In this way the editing mode is entered and
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If executing the current statement is required, press the START (green) button and, if it
is a motion statement, press the Enabling Device too.
Such a statement is then executed according to the current settings (see par. 5.12.3.2.8
Step on page 151).
EXECUTION CURSOR
It is represented by an arrow and the statement background that is a different colour
depending on the current status of the statement:
– if the line background is dark green, the pointed statement is the being executed
one;
– if the line background is light green, the pointed statement is the next statement
to be executed;
– if the line background is yellow, the system is in AUTO mode and the program is
in HOLD state;
– if the system is executed a protected routine, instead of the arrow that points to the
statement there is an icon identified by EXT text string.
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MOTION CURSOR
It indicates the motion statement the Arm is currently executing; if there is no movement
in progress, it points to the last executed motion statement. The associated icon is that
of a robot, plus integrating symbols that indicate the motion status:
– the robot is on the trajectory but the movement is not completed yet
If the opened program is running, IDE displays the currently being executed statements,
by means of the EXECUTION CURSOR. The execution may be followed by the user by
looking at the cursors moving through the program statements.
At program activation in IDE environment, if the program is not being executed, the
EXECUTION CURSOR is placed on the first executable statement after the BEGIN
statement.
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5.12.3.1 Open...
Allows either opening an already existing HOLDable program or creating a new one.
Touching the Open... key causes to access the page shown in the following figure.
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5.12.3.1.1 <New...>
Opens a page in which the user can specify the wished path, name and model.
Choosing the path (to reach the folder in which the program is being created) allows
specifying
– a Device
– a Directory.
The wished Name is required. The default prefix is prog_ .
The system predefined Extension cannot be changed: .PDL .
The user is allowed to specify a Template which means creating a new program just
alike an already existing one or a default program (model).
A program can be referred to as a model only if it has previously been stored in the
following directory:
UD:\SYS\TP5\IDE\templates
If no model is specified, the default one is used.
Touch OK key to confirm, when all the required data have been inserted.
The newly created program is then opened in IDE environment and activated.
5.12.3.1.2 <Load...>
This command works like Prog Page environment Load... command, so please refer to
it for a detailed description.
The loading option is always Activate in IDE environment.
As soon as the program is loaded, the system opens it in IDE environment.
5.12.3.2 Program
Allows operating on the currently open program.
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5.12.3.2.1 Open...
Please refer to par. 5.12.3.1 Open... on page 147 for a detailed description on how this
command works in case of no open program existing in IDE Page.
Viceversa, when there is an already open and active program, as in the previous figure
example, this command deactivates the currently open program; if it has been modified,
the user is asked to save it if wished and then the specified program is opened and
activated.
5.12.3.2.2 Save
Allows accessing the saving commands for the currently open program:
– Save (cod, var)
– Save all mod progs (cod,var).
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5.12.3.2.3 Reset
Deactivates and activates the current program again.
5.12.3.2.4 Abort
Aborts the current statement execution.
5.12.3.2.5 Deactivate
Deactivates the current program.
5.12.3.2.7 Import
It allows to import the declarations from another program that have either the
EXPORTED FROM clause or the GOLOBAL attribute, and insert them in the declaration
section of the currently open program in IDE environment.
If either a data type, or a variable, or a routine have the GLOBAL attribute, IDE
environment inserts only one program line like the following:
IMPORT ‘<name of the program from which importing>’
Otherwise, explicit declaration is inserted as it is, like in the program from which it is
imported.
Example:
importing kk variable from prog_1 program, Import command will insert the following:
TYPE gg=record
i:integer
ENDRECORD
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– Variable
– Program.
When Program item is selected, a list is displayed of all programs currently loaded in
memory. The User has to choose the wished program. This causes the IMPORT
statement to be inserted in the currently open program in IDE environment.
Such a choice allows to import from the chosen program, without declaring any of them,
all the objects (types, variables, routines) having the GLOBAL attribute.
Example
If Program command is selected and prog_2 is chosen from within the programs list,
IDE inserts the following statement in the currently open program:
IMPORT ‘prog_2’
For further information about IMPORT statement and GLOBAL attribute, see PDL2
Programming Language manual - par. IMPORT Statement.
5.12.3.2.8 Step
Sets the program execution step mode.
The current type of step is indicated by a tick (in the below example the current step type
is Statement).
Statement
The execution stops after each statement. The protected Routines (whose content is not
displayed) are executed as a single statement; the execution of non-protected Routines
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Disable
Stops the program execution in steps, causing it to be continuous.
Routine
The execution stops at the end of the routine (the routine is always completely executed:
it never stops on any statement inside the routine itself).
MOVE
The execution stops after each single movement. It cannot be executed on non-holdable
programs.
MOVEFLY
It causes to execute two or more fly movements before suspending the program
execution. It is similar to MOVE option, but the execution does not stop after the
MOVEFLY statement. It cannot be executed on non-holdable programs.
CYCLE
The chosen step mode is a single program cycle, that has to include the CYCLE or
BEGIN CYCLE statement.
Operational note
SHIFT+START
Pressing both the two keys at the same time, causes the program to be executed in
Disable type, which means continuous execution, irrespectively of the currently set
Step. The SHIFT key can be released as soon as the execution starts: pressing the
START key is enough.
As soon as the execution is either completed or the START key is released, the
previously set Step mode is resumed.
This special behaviour can be used to modify positions along FLY movements,
executing the whole program or just a part of it, without having the needs to change the
Step setting again and again:
– let’s suppose to be in Statement mode
– press SHIFT+START to move in continuous mode
– release the START key some program lines before reaching the being modified
position, causing the robot to stop
– press the START key again to resume motion and move towards the being
modified position.
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WARNING - When the START key is released during the execution of FLY movements,
the destination at the motion resume time depends on the moment in which the key has
been released.
If it happened AFTER starting the FLY segment, the resumed movement will stop on P3
final position.
If it happened BEFORE starting the FLY segment, the resumed movement will stop on
P2 intermediate position.
Such two scenarios are shown, respectively, in the following Fig. 5.32 and Fig. 5.33.
A - SHIFT + START
B - Release START key
C - Final destination
A - SHIFT + START
B - Release START key
C - Final destination
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The system opens the shown above page, containing the field in which the being
executed single statement must be inserted. Touching such a field, the PDL2 keyboard
is opened for choosing the wished instruction. Refer to par. 5.6.3.3 PDL2 keyboard on
page 86 for a detailed use description.
After selecting the wished instruction, either touch OK or press ENTER, to confirm it.
Then touch Exec key to start the execution.
As already mentioned, IDE allows monitoring, in the Editor area, the currently open
program execution (see Displaying the currently being executed statement)..
5.12.3.3 Edit
5.12.3.3.1 Select
Activates marking the lines which the EDIT CURSOR is moving on. In the Functional
keys menu the following commands become available:
– Cut - cuts the selected lines
– Copy - copies the selected lines
– Deselect - deactivates marking.
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5.12.3.3.2 Paste
Allows pasting the previously cut or copied lines, inserting them above the program line
which is currently pointed by the EDIT CURSOR.
If the selected instruction is a structured one (e.g. IF, FOR, etc.), this command deletes
the whole structure and NOT only the selected line (from IF to ENDIF, from FOR to
ENDFOR, from WHILE to ENDWHILE, etc).
5.12.3.3.5 Goto
Allows the EDIT CURSOR to be moved to the specified line:
– Begin - moves the cursor to the current context BEGIN statement
– End - moves the cursor to the current context END statement
– Line - moves the cursor to the specified program line (within the current context).
The Numeric keyboard is opened to ask the user to insert the wished line number.
5.12.3.4 Line
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The break point is positioned where the EDIT CURSOR currently is. The program
execution will be interrupted before the line identified by such a break point.
To remove a break point, simply select the line where it has been set, and use this
command again.
5.12.3.4.3 Bypass
Allows the program execution to continue, in case the program is waiting for the
completion of a suspending instruction such as WAIT FOR <condition>, DELAY <time>,
etc.
5.12.3.4.4 Comment/Uncomment
Allows the current program line to become a "comment" or to be considered as an
executable statement, by putting or removing the comment symbol ('--'). As already
mentioned, the commented line is displayed in green (see the below figure on the right).
5.12.3.5 Insert
Allows inserting a new PDL2 language program line, in the currently open program.
Touching this key, causes the system to immediately activate the PDL2 keyboard.
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Refer to par. 5.6.3.3 PDL2 keyboard on page 86 for detailed descriptions of such a
keyboard as well as Statement, Variables, Change and History commands.
The system displays the corresponding template of the chosen statement (in our
example the FOR instruction - see figure above).
The user is requested to complete all the variable fields (moving among them by means
of either using the Next key, identified by a green arrow, or touching them), then to
confirm the statement insertion by either touching OK or pressing ENTER.
The system checks the syntax correctness; if the inserted statement is not correct, an
error message is displayed.
After the error has been fixed, the statement has to be confirmed again by either
touching OK or pressing ENTER.
If the instruction is correct and complete, its insertion is terminated.
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Note that the system has also inserted the ENDFOR line (see the previous figure on the
right), to complete the structure of the chosen instruction.
Arm
Including statements related to:
– Cooperative Motion between Arms and between Axes and Arms
– Arm ATTACH and DETACH
– Arm and Auxiliary Axes status (LOCK, RESUME, CANCEL, AUX_DRIVES, HOLD,
etc.).
Call
Including statements related to:
– calling REMOTE Tool, Uframe and Base calculation routine
– Call, Calls
– Call_prog (calling a routine belonging to an external program)
– SUB (creation of a subroutine within the current program; the new routine is
created as exportable, by default).
They all directly insert the corresponding routine IMPORT clause: so, declaring them as
‘importable is not needed.
Flow
Including all the needed statements to control the program execution flow:
– assignment, increment, decrement
– CASE, FOR, IF, SELECT, WHILE, etc.
– CYCLE, DELAY
– GOTO
– etc.
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IO
Including statements to handle:
– DIN, DOUT and HAND related ports
• DIN (TEST, WAIT_FOR)
• DOUT (INVERT, OFF, ON, etc.)
• HAND (CLOSE_HAND, OPEN_HAND, RELAX_HAND)
– assignment to other ports (AOUT, FMO, TIMER, WORD, etc.)
– I/O ports built-ins (BIT_CLEAR, BIT_SET, BIT_TEST, etc.)
– WRITE.
MOVE
Including:
– statements to handle motion related predefined variables ($FLY_DIST,
$FLY_PER, $STRESS_PER, etc)
– motion statements
• with FLY,
• with different destinations,
• with different trajectory types.
PROGRAM
Including statements related to the programs status:
– ACTIVATE/DEACTIVATE,
– EXIT CYCLE
– PAUSE/UNPAUSE,
– etc
SYS_ARM
Including:
– statements to handle ARM category predefined variables ($ARM_OVR,
$JNT_OVR, $LIN_SPD, etc), which are still valid even after the program
deactivation
– Base and ToolFrame routines calls.
SYS_PROG
Including:
– statements to handle ARM predefined variables within the current program only
($PROG_ACC_OVR, $PROG_DEC_OVR, $SPD_OPT, etc)
Applications
The templates of the specific Technological Instructions to the currently installed
applications, will be available in dedicated folders.
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iTP[IDE]
This group allows handling the transition of the IDE environment on the previous
generation Teach Pendant (iTP) to the new generation current one (TP5).
It will be cancelled as soon as possible, and the currently included statements will be
moved to other groups.
5.12.3.6 REC
Short touching this key, the following items are inserted in the program:
– a motion instruction and
– the declaration of the corresponding positional variable that is assigned the
current arm position.
Long touching this key, the REC setup environment is activated (see figure below).
Its current settings are displayed in the line above the Functional keys menu of the IDE
Page.
Touching the REC setup item, a dedicated environment is opened allowing to setup all
the peculiar features of the motion instruction which is inserted each time the REC key
is touched.
When opening IDE Page, the REC key is set to modal joint, if it has not been previously
setup.
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Note that the new REC settings are NOT kept upon a system restart. To make them
permanent, a Configure Save operation is needed (Configure in Setup page).
5.12.3.7 MOD
Allows modifying the coordinates value of an existing position. Upon touching this key,
the system displays a dialogue window in which the user is prompted to confirm the
selected variable name.
If the set tool and frame for the current MOVE are different than the ones of REC setup,
the system will refuse changing.
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5.12.3.8 Details
– Window
– Edit
– Add...
– Assign
– View.
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Window
This key opens a menu including commands related to the viewing window:
– Open...
– Save...
– Save view as...
– Save values.
Open...
This command allows opening a previously saved viewing, passing through the main
page of the Display Page environment.
Save...
This command allows saving the current viewing in the SAVED folder of the Display
Page environment. The involved file is the currently open one.
If there are NO open viewing files, the user is asked to specify a new filename.
Save values
This command allows saving, to the execution memory, the modified variables values.
Edit
This key opens a menu including commands to select and cancel variables, as well as
to modify their values:
– Select All
– Deselect All
– Invert Sel
– Delete
– Delete all
– POS SHIFT
– New.
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Select All
This command selects all the currently displayed variables.
Deselect All
This command unselects all the currently selected variables.
Invert Sel
This command selects the unselected variables and unselects the currently selected
ones.
Delete
This command deletes from viewing the currently selected variables only.
Delete all
This command deletes from viewing all the displayed variables.
POS SHIFT
This function allows “moving” in the space, positions that belong to the selected
program, modifying its coordinates.
Typically, it is useful to translate the execution of an already taught path, by acting on
the positions belonging to such a path.
Touching this key, a page is opened in which the user is allowed to specify the wished
offsets, related to the current components for X, Y and Z (the inserted values represents
the translation millimeters along all the three directions of the cartesian coordinates
system), as well as to select the wished reference frame, as shown in the below figure.
If the selected variable is just one, the system displays its name and the corresponding
modifications are just referred to it (see the highlighted area in the previous figure).
Viceversa, when more than one variables are selected (as shown in the following
example, figure on the left, in which command View variables in program has been
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chosen) the system displays the text “multiple selection” (next figure on the right) and
thus the translation is referred to all the selected positional variables.
New
This command allows adding a new program variable, inserting its declaration into the
VAR section.
Touching New item, causes a page to be displayed in which the user should insert any
needed information for the new variable (see the following figure).
Type in the wished name by means of the alphanumeric keyboard which is opened upon
touching Name field.
Then choose the wished type from the displayed list, by touching Type field.
In the summarizing page (see next figure on the left), touch OK key to confirm. The new
variable declaration is then inserted into the program (see the highlighted in red
statement, in the next figure on the right).
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Add...
This command allows adding some new elements to the current viewing. It is very useful
when, besides the current program variables, it is wished to view also some I/O points,
predefined variables or some other programs variables.
In such a case, the Display Page environment viewing functionality is automatically
used. This command opens the main page of such an environment, in which the icons
of all the viewable Elements are available (see the following figure).
One or more elements can be added by simply touching the corresponding icon.
Please refer to Chap.5.13 - Display Page on page 170 for further details.
Assign
This command allows assigning a value to the selected variable.
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On
Assigns TRUE value to the selected BOOLEAN variable or I/O point.
Off
Assigns FALSE value to the selected BOOLEAN variable or I/O point.
Value...
Assigns a suitable value to the INTEGER, REAL, STRING, etc. selected variable.
Current position
Assigns the arm current position to the selected positional variable.
View
This command allows choosing how to view the selected elements:
– ProgressBar
– Format.
ProgressBar
This command allows viewing analog ports by means of a Progress Bar.
Format
This command allows specifying the base in which the selected elements values are to
be viewed:
– Binary
– Octal
– Decimal
– Hexadecimal.
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The following keys are available in the Functional keys menu, as for previous View
variables in line command:
– Window
– Edit
– Add...
– Assign
– View.
NOTE - for a detailed description of the listed above commands, please refer to
par. 5.12.3.8.1 View variables in line on page 162.
5.12.3.8.3 Callchain
It displays the routine calls nesting for the currently selected program (see Fig. 5.30 in
Chap.5.11 - Prog Page on page 123).
The following information is provided:
– routine name (routine)
– line number of the call (line)
– program state (status)
– routine owning program (owner)
– program context type: main, interrupt routine, routine (type).
The Bypass key, available int the Functional keys menu, allows skipping the current
statement while debugging the program. This command is useful whenever the program
is waiting for a condition. It cannot be used when the system is in FATAL state.
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only possible to exit from the environment if the reply is affirmative. Otherwise it is
necessary to manually realign the cursors before closing.
If the program has been changed, the user is asked if it is to be saved.
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5.13.1 Introduction
This environment DISPLAYS information about the following elements:
– existing I/O points, associated or not to the Devices which are present in the
System,
– Program and System Variables
– variables belonging to any installed applications onto the Control Unit.
The user is allowed to combine such Elements as wished, depending on how many and
which of them he/she would like to view.
Dedicated Commands are available for this environment, to create, modify, export and
display such combinations of elements.
– Creating a new combination
– Viewing/modifying/deleting an already existing combination
– Exporting the saved combinations
– Elements
– Commands.
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b. Access the sub-environments icons by touching either the area indicated in the
following figure (highlighted in red) or Window - Open... command.
c. All the existing Display sub-environments icons are made available for the user to
choose, as shown in the following figure.
Display the wished element (see par. 5.13.5 Elements on page 175) by touching
the icon of the corresponding sub-environment.
In the shown example, the VARS icon is selected.
d. Select the wished element and provide the needed information to complete its
insertion.
In the shown example, it is required to insert a System Var (see par. 5.13.5.3
VARS on page 179).
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The required being inserted data are Variabile name, first Index, second Index if
needed, Arm and Comment, as shown in the following figure.
For further information about how to handle the specific element, refer to par. 5.13.5
Elements on page 175 and to par. 5.13.6 Commands on page 185.
e. Add some more elements, if wished, by touching Add... key to view the Elements
icons again.
f. Repeat d. and e. steps, until completion of inserting all the wished elements.
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i. Exit from the sub-environment by means of the closure key (see par. 5.6.1
Common keys on page 77 for further details).
b. The system displays the existing files in SAVED folder. Touch the icon related to
the wished file to display its variables.
In our example, the only existing file is my_disp_vars. If it is wished to cancel it,
touch Delete key.
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c. Opening the selected file, the system displays all the contained variables.
If wished, the user can edit the file content in order to modify the displayed
Elements combination.
d. Use Edit, Add..., Assign, Force commands, to modify the displayed combination.
Refer to par. 5.13.6 Commands on page 185 for further information about handling each
element.
At the end, save the combination to make any modification operational, by means
of either Window - Save... or Window - Save view as..., depending on saving to the
same file or to a file with a different name. For any variable belonging to programs
which are currently loaded into memory, it is also available Window - Save values
command, to save the modified variables values to the execution memory. Such
values are NOT saved to the file.
e. Exit from the sub-environment by means of the closure key (see par. 5.6.1
Common keys on page 77 for further details).
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To start exporting, simply touch such a key (see figure above) and select the wished
USB port.
The user is asked for confirmation before starting the export operation.
Answer Yes to start the export procedure. A suitable message is displayed to notify the
operation completion (see above figures).
The name of the newly created folder onto the USB Flash Disk is MyDISPLAY; it
includes all currently existing combinations inside the SAVED folder.
Touch the Closing current page key to close the Export environment.
5.13.5 Elements
Questo paragrafo descrive gli ambienti che contengono tutti gli elementi visualizzabili
(tra i quali l’utente può scegliere per creare la propria combinazione personalizzata):
– DEVICE
– PORTS
– VARS
– Installed applications.
Refer to par. 5.13.2 Creating a new combination on page 171 and to par. 5.13.3
Viewing/modifying/deleting an already existing combination on page 173 to group at the
user’s liking the wished elements, and to save such combinations to different files.
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5.13.5.1 DEVICE
This environment displays the existing Devices families, in the System.
NOTE
From within this page, the user is allowed to access any system variables related to the
Safe Logic, by selecting PLC_SAFELOGIC.
The device (either physical or virtual) name, type and state (connected, not connected,
disabled), are indicated in the lowest part of the screen, above the Functional keys
menu, highlighted in red in the following figure.
Note that the icons, representing the Devices State, are refreshed in realtime.
The C5G icon represents the Primary Slave.
Touching once the icon associated to a certain device, the following keys are made
available in the Functional keys menu:
– Device
– Remote Inp.
– Properties.
Touching twice (which means touching again an already selected icon) instead, the icon
associated to a certain device, causes to enter the associated I/O ports display page.
5.13.5.1.1 Device
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This functional key is available for either User devices, i.e. belonging to a Profibus,
DeviceNet, Profinet, Ethernet/IP, EtherCAT type Fieldbus, or Virtual devices.
Touch Device and choose Disable item, to disable the selected device (see previous
figure).
On the contrary, touch Device key and choose Enable item, to enable a disabled
device.
If the user wishes to display the devices related icons in a Compact way, long touch the
Icons View mode key: it is then made available a menu including Compact command.
If Disable command is chosen, the system will not take the listed above signals (such
signals only), coming from PLC, into account. Obviously, the system will take them into
account again as soon as the Enable command is issued.
Note that when signals from remote are disables, an exclamation mark ‘!’ is displayed in
the Status bar (as shown in the following figure) beside the current state indication
(either PROGR or LOCAL).
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5.13.5.1.3 Properties
5.13.5.2 PORTS
This sub-page allows displaying all existing ports in the System (below figure on the left),
grouped by port type.
Touching the wished icon, depending on the required port type, the system could display
a screen in which the user is asked to specify the range of the being displayed ports (as
shown in the following example, figure on the right).
Specify the range by means of the suitable keyboard which is activated by the system.
Touch OK key to confirm the choice and to get the required ports list to be displayed,
with the following information:
– Owner - indicates whether such a row information is associated to an I/O type
element or to a program variable element; in that case the owning program name
is displayed
– Name - element name
– Value - element current value
– Comment - element description.
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Refer to par. 5.13.6 Commands on page 185 for all commands to handle each single I/O
Port.
5.13.5.3 VARS
This subenvironment displays
– variables belonging to PDL2 programs currently loaded in memory (Program Var),
– a subset of PDL2 language predefined variables (System Var).
Different selection pages are opened, depending on the wished variable, in which the
user should insert the needed information.
In the following figures, the left one refers to Program Var choice, whereas the right
figure refers to System Var one.
Program and Variable fields are to be completed by the user; the system provides a list
of available choices, by simply touching them.
Touching the other fields (Index, Arm, Comment), causes the suitable keyboard to be
opened by the system.
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NOTE
If the wished variable is an ARRAY, the user is allowed to specify just some elements.
The syntax allows specifying both an elements interval (e.g. 1-3 means elements [1], [2]
and [3]) and a list of not sequential elements (e.g. 2, 6, 9 means element [2], element [6]
and element [9]. See example in Fig. 5.34.
A detailed description follows for each one of the involved elements categories:
– Program Var
– System Var.
Then choose the wished variable(s), among the one belonging to the selected program.
The user is allowed to select them all, simply touching Select all l variables checkbox
(highlighted in red in the previous right figure).
If selecting just some of them is wished, instead, touch Variable field to open the
complete list (see next figure).
In the following figure a selection example is shown (see figure on the left).
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Multiple selection
A multiple selection is allowed of some elements in the list, by moving the cursor to the
wished variable and pressing SHIFT and ENTER keys at the same time.
The element currently pointed by the cursor, is included in the sNella selezione verrà
incluso anche l’elemento attualmente puntato dal cursore.
Furthermore, it is allowed to make a multiple selection by means of the touch method:
touching an element and dragging the finger (never detaching it from the screen)
towards subsequent or previous elements, all the touched elements are then selected.
Among the selected variables, if wished, the user is allowed to MODIFY the value of the
following datatypes ones:
– INTEGER
– BOOLEAN
– REAL
– STRING.
An example is provided, in the following figures, of modifying an INTEGER variable.
Select the being modified variable and choose Value... item from Assign menu, to
cause opening the numeric keyboard which allows the user to insert the new value.
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The user is allowed to assign the Arm Current position to positional variables (see the
following figure)
Open the suitable tree branch, select the wished system variable and touch OK key to
confirm.
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If the wished System Var is not already included inside the displayed structure, the user
is allowed to select it anyway, by touching the first key on the left, in the functional keys
menu (see previous figure on the left, highlighted in blue key). It opens the alphanumeric
keyboard to allow the user to type in the wished System Var name.
Touch OK both in the keyboard page and in the Sys Var page, to insert such a variable
into the being created/modified combination.
As for Program Vars, the user is allowed to modify System Vars value too. The
procedure is the same and, as for Program Vars, the editable variables types are just
the following ones:
– INTEGER
– BOOLEAN
– REAL
– STRING.
The user is allowed to assign the Arm Current position to positional System Vars (see
the following figure)
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5.13.6 Commands
In this section the available commands are described, corresponding to the currently
displayed elements.
Note that when one or more elements are displayed, their values are realtime refreshed.
– Window
– Edit
– Add...
– Assign
– Force
– View.
5.13.6.1 Window
Touch this key to access commands acting on files contained in the SAVED folder:
– Open...
– Save...
– Save view as...
– Save values
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5.13.6.1.1 Open...
This command displays the main page of the Display environment, in which all the
viewable Elements icons are included.
Touching one of those icons, the user can insert one or more included elements, in the
current combination.
5.13.6.1.2 Save...
This command allows saving the currently displayed elements combination to SAVED
folder. The related file is the currently open one.
Note that in case of new combination (see par. 5.13.2 Creating a new combination on
page 171), Save... command is automatically switched to Save view as... command.
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5.13.6.2 Edit
This key opens a menu to handle the being viewed elements selection.
The available commands are as follows:
– Select All
– Deselect All
– Invert Sel
– Delete
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– Delete all.
5.13.6.2.4 Delete
This command deletes the currently selected elements.
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5.13.6.3 Add...
This command displays the main page of the Display environment, in which all the
viewable Elements the user is allowed to add are included.
Touching one of such icons, the user can add one or more elements to the current
combination.
5.13.6.4 Assign
This command allows assigning a value to the selected element.
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WARNING
Program Vars can be assigned new values only if they belong to currently loaded to
memory programs!
5.13.6.4.1 On
Assigns TRUE value to the selected element.
5.13.6.4.2 Off
Assigns FALSE value to the selected element.
5.13.6.4.3 Valore...
Assigns a suitable value to the INTEGER, REAL, STRING, etc. selected element.
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5.13.6.5 Force
This command forces the value of a certain I/O. The physical port is no longer
considered and the forced value is used.
In order for such an I/O point to be able to assume the current value, the Unforce
command must be used.
A forced I/O point is displayed in red.
5.13.6.5.1 On
Forces the specified I/O point to TRUE.
5.13.6.5.2 Off
Forces the specified I/O point to FALSE.
5.13.6.5.3 Current
Forces the specified I/O point to its current value.
5.13.6.5.4 Value...
It is just like the preceeding ones, but refers to I/O points composed by more than one
bit.
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5.13.6.5.5 Unforce
Removes the forced status for the selected I/O point, and restores its original physical
configuration; the user must specify one of the following options:
– Current - removes the forced status for the selected I/O point, setting the current
value
– All - removes the forced status of all I/O points of the selected type.
5.13.6.6 View
This command allows choosing how to view the selected elements:
– ProgressBar
– Format.
5.13.6.6.1 ProgressBar
This command allows viewing analog ports by means of a Progress Bar.
5.13.6.6.2 Format
This command allows specifying the base in which the selected elements values are to
be viewed:
– Binary
– Octal
– Decimal
– Hexadecimal.
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To properly handle the application User Interface, refer to the specific application
manual.
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5.15.1 Disk
This menu includes the following utility commands, peculiar of such an environment:
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– New
– Backup
– Backup of Saveset
– Restore
– Restore of Saveset
– Device change
– Device Properties
– Recycle bin.
5.15.1.1 New
Creates a new File, Directory or compressed file (.ZIP).
Specify the new element name by means of the automatically activated keyboard. If it is
a file, indicate the extension too.
Touch OK to confirm.
5.15.1.2 Backup
This command copies a range of files (specified by means of either a name or a
Saveset) towards the default backup/restore device ($DFT_DV[3]). The user is also
allowed to select some options related to the command.
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b.1.1 Specify the wished Destination. If nothing is specified, the default backup/restore
device is used (i.e. the current value of $DFT_DV[3]);
b.1.2 insert the wished command options, by selecting the corresponding checkbox:
– Date(/After)=copy all the files which have been created/modified either
before or after a specified date or a certain amout of days,
– Incremental(/Incremental)=copy all the files which have NEVER been
saved in previous backup operations
and any required additional information (e.g. for the Date(/After) option it is needed
to insert the either date or the amount of day).
b.2.2 the system opens a subenvironment in which the available Savesets are listed;
touch the name of the wished Saveset and touch OK key to confirm;
To check whether the being selected Saveset name, the associated options and the
corresponding files group match, it is strongly suggested to open the Backup sub-page
in the Setup page.
The corresponding options of the selected Saveset have already been inserted from the
Setup page, at the Saveset definition time.
It is anyway allowed to specify some more options, provided that they are compatible in
respect with the already specified ones.
The allowed options for the Backup Savesets, at this level, are Date(/After) and
Incremental (/Incremental).
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d. as shown in the figure above, the system asks for a confirmation to go ahead with
the Backup operation. Confirm by touching Yes key to start its execution.
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Among the available Savesets, there is a predefined one, called Srv (see above figure),
which is to be used to save a specific situation before calling COMAU Assistance.
It is suggested not to activate such a command during the process: it could slow it
down.
b. the system displays the current Backup destination device; if wished, it is allowed
to modify it;
d. the System asks the user again for confirmation, before starting to execute the
Backup operation. Touch Yes key to confirm.
5.15.1.4 Restore
This command restores all files (specified by means of either a name or a Saveset) from
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the default backup/restore device ($DFT_DV[3]), to the device from which they had
been previously saved by means of a Backup command. The user is also allowed to
insert some options associated to the command.
Read carefully the NOTE about the total amount of entries in the UD: root directory.
b.1.1 specify the desired Source. If nothing is specified, the default backup/restore
device (i.e. the current value of $DFT_DV[3]) is used;
b.1.2 insert the wished command options, by selecting the corresponding Checkbox:
– Date(/After)=restores all the files which have been created/modified before
or after a specified date or amount of days,
– Newer=restores if more recent only,
– Overwrite=overwrite also read-only files,
and any required additional information (e.g. for the Date(/After) option it is needed
to insert either the date or the amount of days).
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b.2.2 the system opens a subenvironment in which the available Savesets are listed;
touch the wished Saveset name and confirm touching OK key;
To check whether the name of the being selected Saveset, the associated options and
the corresponding files group match, it is strongly suggested to open the Restore
sub-page in the Setup page.
Any allowed corresponding options for the selected Saveset have already been inserted
from the Setup page, at the Saveset definition time.
It is anyway allowed to specify some more options, provided that they are compatible in
respect with the already specified ones.
The allowed options for the Backup Savesets, at this level, are Date(/After), Newer and
Overwrite.
d. as shown in the figure above, the System asks the user again for confirmation,
before starting to execute the Restore operation. Touch Yes to start the Restore
execution.
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b. the system displays the currently active Restore source device; it is editable, if
wished;
d. the System asks the user again for confirmation, before starting to execute the
restore operation. Answer by touching Yes to confirm.
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Access to a different device may depend on whether or not the Login has been
executed.
If a removable device is to be used, insert it in the suitable housing (e.g. a USB flash
disk in a USB port) before using the required command.
In such a way the wished device will be listed among the selectable devices and the user
will be able to choose it.
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Displays the recycle bin content related to the selected directory. The following functions
are available in the Functional keys menu:
– Empty
Empties the bin.
– Erase
Permanently removes the selected file from the bin.
– Restore
Restores the selected file and put it again in the current directory.
5.15.2 Edit
This menu allows executing some operations to handle the currently displayed files.
– Select all
– Deselect all
– Invert sel
– Select prompt
– Cut
– Copy
– Paste.
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In the shown above example, the selection creterion is “select all .cod files.
5.15.2.5 Cut
Cuts the selected files.
5.15.2.6 Copy
Copies the selected files.
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5.15.2.7 Paste
Copies the previously cut or copied files to the current folder.
5.15.3 File
In this environment, the available keys in the Functional keys menu are as follows:
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– File
– Edit.
5.15.3.1.1 File
Reload
Reloads the last saved version of the currently opened file in edit environment.
Save
Saves the current file with the same name, keeping it open for editing.
Save as
Saves the current file content with a different name and/or destination, keeping it open
for editing.
To save the file, see NOTE regarding the total amount of entries in the UD: root
directory.
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5.15.3.1.2 Edit
The classic edit commands for a text file are available in this menu:
– Copy
– Paste
– Cut
– Go to..
– Find...
– Find next
– Insert line
– Delete selected lines.
Go to..
This command allows positioning the cursor to the wished line.
Touch to select it. The system automatically opens the Numeric keyboard to allow the
user inserting the wished program line number.
Find...
This command allows finding a text string within an open for editing file.
Touching this command, the system automatically opens the Alphanumeric keyboard to
allow the user to insert the being searched text string.
Insert the wished string and touch OK to confirm.
The cursor is then positioned to the line where the requested string is found.
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Find next
This command allows finding the next occurrence of an already found text string within
an open for editing file.
If not found, a suitable informational message is displayed.
Insert line
This command opens the PDL2 keyboard to allow the user inserting a new program line,
with the wished content.
The PDL2 keyboard allows inserting PDL2 statements as well as simply typing text
strings.
5.15.3.2 Send to
Copies the selected file to the specified device.
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5.15.3.3 Rename
Allows specifying a different name for the currently selected file.
When the Rename command is touched, the system automatically opens the
Alphanumeric keyboard and displays the current filename, to allows the user to insert a
new filename. Insert it and touch OK key to confirm.
5.15.3.4 Delete
Deletes the selected file. It can be restored by means of the Recycle bin command:
select the being restored file and touch the Restore key.
The selected file is taken away from the Recycle bin and put into the directory from
which the Recycle bin command was issued.
Note that one Recycle bin for each folder is available.
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5.15.3.6 Translate
Converts:
– a PDL2 program in ASCII source code (.PDL), to an executable code (.COD) file
and vice versa;
– a file of variables in ASCII source format (.LSV), to a file of variables with a loadable
format for the Control Unit (.VAR) and vice versa.
If the destination file (e.g. .COD) is already existing, the copy is saved with a different
extension (e.g. .BKC) before the new file is created.
If reports or errors are detected during the conversion, they are displayed in the scrolling
window and recorded in <file_name>.ERR file.
This command can also be used to convert system binary files (.C5G), to the
corresponding ASCII format (.PDL).
5.15.3.7 Compress
This command allows compressing a file, thus reducing its size. The compressed file
has .ZIP extension.
In the below example, new_mot_1.cod file has been compressed into
compressed_file.zip file.
Touching Compress command, the system opens a subpage in which the user should
specify the Device, the Directory and the compressed file Name. The Alphanumeric
keyboard is automatically opened to type in the file name.
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5.15.3.8 Extract
Extracts files from a compressed file (.ZIP) and put them to the same folder. Note that if
the currently selected file is NOT a compressed one, this command is NOT available.
5.15.3.10 Install
Opens the selected .zip file and installs the included application program. The
corresponding command to be used from within WinC5G environment is FILER
UTILITY INSTALL (FUI).
5.15.4 View
Handles the files information viewing and how the related icons are displayed.
– Refresh
– Mode
– Sort by.
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5.15.4.1 Refresh
Updates the information included in the files list.
5.15.4.2 Mode
Specifies how the files list icons are displayed.
– Big icons
– Details.
5.15.4.2.2 Details
This command allows viewing the files list with the detailed information:
– Name - it is the filename
– Size - it is the file size in bytes
– Time - it is the last modification date.
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5.15.4.3 Sort by
This command allows viewing the list of files according to different criteria:
– Name - alphabetical order
– Date - date of modification (from top downwards, first the oldest files are displayed,
followed by the most recent ones)
– Type - type of extension.
– Dimension - file dimension.
Note that the first time a criterium is selected (e.g. “Sort by Name”), the increasing sort
is used (e.g. from A to Z); selecting the same criterium again, the decreasing sort is used
(e.g. from Z to A).
5.15.5 Details
Allows viewing some detailed information about the currently selected file(s):
– Attribute
– Properties.
5.15.5.1 Attribute
Allows to assign the selected file or to remove from it one of the following attributes:
– Hidden - not viewable files
– Read-only - read only files
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5.15.5.2 Properties
Allows viewing the selected file Property Notes.
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Sorting such tables according to the columns titles is not available in this environment.
When a table is open, the available commands in the Functional keys menu, sare as
follows:
– Table
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– Edit.
5.16.1.1 Table
This menu provides commands to operate on the table and on its corresponding file.
– Reload
– Save
– Apply
– AutoApply
– Undo Changes.
5.16.1.1.1 Reload
Reloads the value of the variables from the file.
5.16.1.1.2 Save
Saves the changes both in the execution memory and in the file. The Table remains
open.
See NOTE about the total amount of entries in the UD: root directory.
5.16.1.1.3 Apply
Saves the applied changes in the execution memory. The table keeps open, but the
changes are NOT stored in the file.
Note that the modifications are written in in Italic until they are not applied to the table
(see example in the following figure).
Furthermore, in the topmost field, besides the table name, a “Not apply” text is displayed
(see the following figure on the left, highlighted in red).
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As soon as the Apply command is activated, such a text becomes “Not saved” (see
previous figure on the right, highlighted in red).
5.16.1.1.4 AutoApply
Editing in AutoApply mode means to make the changes applied to the table cells (i.e.
copied in execution memory) get automatically operating, with no needs of using Apply
command.
If a table may be edited in AutoApply mode, such a functionality is enabled when the
table is opened (a lighted green ”led” is displayed on the left of the command ).
This mode can be disabled/enabled by touching the key again, toggle type functioning.
5.16.1.2 Edit
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Multiple selection
A multiple selection of the table elements is allowed by moving the cursor to the wished
element and pressing SHIFT and ENTER buttons at the same time, to insert it to the
selection.
The currently pointed element will also be included to the selection.
Furthermore, it is allowed to make a multiple selection by means of the touch method:
touching an element and dragging the finger (never detaching it from the screen)
towards subsequent or previous elements, all the touched elements are then selected.
If focus is not placed on any cell, this command does not take any effect.
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5.16.1.2.3 Deselect
Deselect all currently selected cell/row.
a. touch the being copied cell or one cell of the being copied row (in the shown below
example a cell is copied&pasted)
c. touch the destination cell or one cell belonging to the destination row
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The new row is inserted in the proper position, according to the alphabetical order (see
the figure below).
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PAY ATTENTION
– when the modal selector is switched to AUTO, if bit 23 of $CNTRL_CNFG
predefined variable is set to 1, the current values in DATA environment are
AUTOMATICALLY SAVED.
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– FRAME.
For further information, please refer to par. 5.9.1.3 Tool, Frame, Base on page 108 in
Motion Page.
NOTE that both in AUTO and REMOTE status, tool/base/frame changing is disabled.
The meaning of the several columns of the system tables is shortly described in the line
placed above the Functional keys menu. The following Fig. 5.38, Fig. 5.39 and Fig. 5.40
are shown as an example.
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5.16.2.1 BASE
The BASE type structure includes, among other elements, the following ones:
– a Base0, unique in the system
– a BASE type 34 elements array, including all the Bases.
Each element is composed by the following information fields:
– Name
– Base Position
– Description.
5.16.2.2 TOOL
The TOOL type structure includes, among other elements, the following ones:
– a Master Tool for each Arm
– a Tool0, unique in the system
– a Tool0 Remoto, unique in the system
– a TOOL type 64 elements array, including all the Tools, both normal and remote
ones.
Each element is composed by the following information fields:
– Name
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5.16.2.3 FRAME
The FRAME type structure includes, among other elements, the following ones:
– a Frame0, unique in the system
– a Frame0 Remoto, unique in the system
– a FRAME type 64 elements array, including all the Frames, both normal and
remote ones.
Each element is composed by the following information fields:
– Name
– Remote Frame Flag
– Frame Position
– Mass
– Frame Center Position (for Remote Frame only)
– Main inertia moments (for Remote Frame only)
– Frame Extreme Position (for Remote Frame only)
– Description.
5.16.2.4.1 Routine for Tool and Frame setting for a specified Arm
– ToolFrame routine
– RmtToolFrame routine.
ToolFrame routine
It activates, at the same time, both the NON REMOTE Tool index and Frame index to
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Parameters Range
ai_tool : index of the being used Tool 1 .. 64
ai_frame : index of the being used Frame 1 .. 64
ai_arm : index of the Arm for which Tool and Frame are to be set 1..4
The three parameters are optional. In single Arm systems, it is suggested to ALWAYS
specify the first two ones.
In multiarm systems, the Arm index is already specified in the table but, for the PDL2
program better readability and for a proper use of the tool0, it is suggested to ALWAYS
specify the third parameter too.
RmtToolFrame routine
It activates, at the same time, both the REMOTE Tool index and Frame index to be used
for a specified Arm.
This Routine must be imported into the calling program, in the following way:
Parameters Range
ai_tool : index of the being used Remote Frame 1 .. 64
ai_frame : index of the being used Remote Frame 1 .. 64
ai_arm : index of the Arm for which Remote Tool and Frame are to be set. 1..4
The three parameters are optional. In single Arm systems, it is suggested to ALWAYS
specify the first two ones.
In multiarm systems, the Arm index is already specified in the table but, for the PDL2
program better readability and for a proper use of the tool0, it is suggested to ALWAYS
specify the third parameter too.
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WARNING - Setting a REMOTE tool or frame is NOT allowed if the other element is not
remote!
WARNING - in order to make the WinC5G file managing to work properly, it is a good
habit to always insert the calling sequence to both ToolFrame routine and
RmtToolFrame routine at the beginning of each routine including motion statements.
Base routine
It activates the Base for a specified Arm.
This Routine must be imported into the calling program, in the following way:
ROUTINE base(ai_b_num : INTEGER; ai_arm : INTEGER ()) EXPORTED FROM TB_BASE GLOBAL
Parameters Range
ai_base : index of the being used Base 1 .. 34
ai_arm : index of the Arm for which the specified Base is to be set 1..4
ttri_tooldata_get routine
It allows reading the specified Tool value, from within a program.
This Routine must be imported into the calling program, in the following way:
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Parameters Range
ai_tool : index of the Tool the user wishes to get the value 1 .. 64
ap_pos : Tool position, returned by the routine
ON = remote
ab_remote : remote Tool flag, returned by the routine
OFF = normal
Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).
turi_framedata_get routine
It allows reading the specified Frame value, from within a program.
This Routine must be imported into the calling program, in the following way:
Parametri Range
ai_frame : index of the Frame the user wishes to get the value 1 .. 64
ap_pos : Frame position, returned by the routine
ON = remote
ab_remote : remote Frame flag, returned by the routine
OFF = normal
Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).
tbri_basedata_get routine
It allows reading the specified Base value, from within the program.
This Routine must be imported into the calling program, in the following way:
Parameters Range
ai_base : index of the Base the user wishes to get the value 1 .. 34
ap_pos : Base position, returned by the routine
Returned values:
– 0 -> the routine has been properly executed
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ttri_tooldata_set routine
It is allowed to call this routine from within a program, in order to set a specified Tool.
This Routine must be imported into the calling program, in the following way:
Parameters Range
ai_tool : index of the being set Tool 1 .. 64
ap_pos : being set Tool position for the specified Tool
ON = remote
ab_remote : it indicates whtether the specified Tool is to be set as Remote or not
OFF = normal
Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).
turi_framedata_set routine
It is allowed to call this routine from within a program, in order to set a specified Frame.
This Routine must be imported into the calling program, in the following way:
Parameters Range
ai_frame : index of the being set Frame 1 .. 64
ap_pos : being set Frame position for the specified Frame
ON = remote
ab_remote : it indicates whtether the specified Frame is to be set as Remote or not
OFF = normal
Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).
tbri_basedata_set routine
It is allowed to call this routine from within a program, in order to set a specified Base.
This Routine must be imported into the calling program, in the following way:
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Parameters Range
ai_base : index of the being set Base 1 .. 34
ap_pos : being set Base position for the specified Base
Returned values:
– 0 -> the routine has been properly executed
– 1 -> wrong parameter(s).
ttri_tooldata_save routine
It allows saving modifications made by means of the ttri_tooldata_set routine.
This Routine must be imported into the calling program, in the following way:
turi_framedata_save routine
It allows saving modifications made by means of the turi_framedata_set routine.
This Routine must be imported into the calling program, in the following way:
tbri_basedata_save routine
It allows saving modifications made by means of the tbri_basedata_set routine.
This Routine must be imported into the calling program, in the following way:
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.....
VAR li_id : INTEGER
VAR lr_x, lr_y, lr_z, lr_e1, lr_e2, lr_e3 : REAL
VAR ls_cnfg : STRING[15]
VAR li_node : INTEGER
VAR lp_tmp_pos : POSITION
VAR li_tmp : INTEGER
VAR lb_remote : BOOLEAN
VAR li_dato : INTEGER
VAR li_test : INTEGER
VAR ls_dato : STRING[5]
VAR li_num_arm_base : INTEGER
.....
BEGIN
li_node := 0
IF li_tool_type = ki_tool THEN -- Tool on the robot flange
FOR li_id := 1 TO ki_max_tool_frame DO
-- If not configured with Nodal Move
IF bit_test($CNTRL_CNFG, 24, OFF) THEN
li_tmp:=ttri_tooldata_get(li_id, lp_tmp_pos, lb_remote)
.....
-- load the calculated Tool values in the Position Table
-- corresponding to the declared Tool number (li_dato)
li_test:= ttri_tooldata_set(li_dato, $ARM_DATA[vi_num_arm].TOOL, TRUE)
-- load the calculated Remote Tool values in the Position Table
-- corresponding to the declared Tool number (li_dato)
li_test:= ttri_tooldata_set(li_dato, $ARM_DATA[vi_num_arm].TOOL, FALSE)
.....
li_test:=turi_framedata_set(li_dato,$ARM_DATA[vi_num_arm].UFRAME, TRUE)
.....
li_test:=tbri_basedata_set(li_dato,$ARM_DATA[vi_num_arm_base].BASE,
li_num_arm_base)
.....
.....
-- Tool is unchanged and Frame is changed (4th table element)
ToolFrame(, 4)
.....
-- Frame is unchanged and Tool is changed (8th table element)
ToolFrame(8)
.....
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-- Frame and Tool are not changed: it doesn’t perform any action
ToolFrame(, , 1)
Code Description
43050 not existing Tool
43051 not existing Frame
43053 not existing Base
43054 wrong Arm
43056 uninitialized Variabile
43059 wrong Parameters Data Type
43060 uninitialized Tool/Frame
43062 Remote Tool inconsistency
43063 not existing Remote ToolMaster
43064 wrong Parameters
The procedure to create and add them to the Data Page is described in par. 5.23.1 User
table creation from DATA environment on page 329.
Once created and added to the DATA Page, such tables are handled in exactly the
same way as the System tables and Application tables.
This means that, to select the required table, touching the corresponding icon is needed.
Furthermore, as already explained in the previous paragraphs, once the table is opened,
it is possible to act inside it exactly in the same way.
Note that opening and modifying user tables are enabled/disabled depending both on
the system state and the login profile (see Chap.4. - Access to the Control Unit
(login/logout) on page 45 - par. 4.2.2 Summary table of access rights on page 48 of
current manual).
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5.17.1 IO
This group includes all programs related to the I/O modules configuration,
importing/exporting configurations, Fieldbus modules utilities, I/O ports mapping, Hands
handling:
– FB_UTIL
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– HAND
– IO_CLONE
– IO_CNFG
– IO_MAP.
5.17.1.1 FB_UTIL
This icon allows accessing the Fieldbus modules configuration program.
For any information about the use of such a program, refer to Chap. FB_util Program -
Fieldbus modules utility on page 501.
5.17.1.2 HAND
This icon allows accessing to Hands handling for all the existing Arms in the system.
In this environment, first of all the user should select Arm and Hand which it is wished
to operate on, by touching the related row.
In the new page, touch the Working mode field to choose the wished element from the
displayed list (previous figure, on the right).
Select it and touch OK to confirm.
The available working modes are as follows:
– One
– Dual
– Pulse
– Step.
To insert the required data, the suitable keyboard is automatically opened (see
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5.17.1.2.1 One
To configure the Hand with a single output line.
This choice causes the system to display some more fields shown in the below figure.
5.17.1.2.2 Dual
Allows configuring the Hand with two output lines.
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This choice causes the system to display some more fields shown in the below figure.
The User has to supply the same information as for One Working Mode, but for both the
Output ports.
5.17.1.2.3 Pulse
Allows configuring the Hand in Pulse mode, with two output lines.
This choice causes the system to display some more fields shown in the below figure.
The information to be supplied by the User is the same as for the Dual operating mode,
but it is now necessary to also specify the pulse duration (10 ..10000 ms), indicated by
Time [msec] field.
5.17.1.2.4 Step
Allows configuring the Hand in Step mode, with two output lines.
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This choice causes the system to display some more fields shown in the below figure.
The information to be supplied by the User is the same as for the Dual operating mode
(to which reference is made), but it is now necessary to specify also the time interval
between one step and the next one (10 ..10000 ms), in the Time [msec] field.
5.17.1.3 IO_CLONE
This icon allows accessing the program for importing/exporting the Input/Output
modules configuration.
For detailed information about such a program, please refert to Chap. IO_CLONE
Program - I/O Configuration Export/Import on page 549.
5.17.1.4 IO_CNFG
This icon allows accessing the program to configure the I/O modules in the system.
For detailed information about such a program, please refert to Chap. IO_CNFG
Program - I/O modules configuration on page 477.
5.17.1.5 IO_MAP
This icon allows accessing the program to map the I/O points belonging to all the
existing Devices in the system.
For detailed information about such a program, please refer to Chap. IO_MAP Program
- I/O ports mapping on page 524.
5.17.2 Motion
This group allows accessing all tools to setup the main Arm and any other Arms and
Auxiliary axes movements (reference systems calculation and payload identification,
calibration, turn-set, special Arms and Auxiliary axes configurations, interference
regions, stroke-ends, etc).
The available sub-environments depend on both the system configuration and the
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– Frames
– Calib
– Collision
– Column
– Conveyor
– IRegions
– Mounting
– MultiTurn
– PAL
– PalBooster
– Payload
– Portal
– Posit
– Posit_Arm
– Rail
– StrokeEnd.
5.17.2.1 Frames
This subenvironment allows calculating the values for positioners BASE, TOOL and
UFRAME, in automatic and guided way.
– Base
– Tool
– Uframe
5.17.2.1.1 Base
This subenvironment allows calculating the positioners BASE, according to the
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following requirements:
– Cooperative Motion (optional feature) (CR17926200) software option must have
beed enabled
– the user must be logged in on the TP5 Teach Pendant
– positioners axes must be present in the system configuration
The home page of the Base subenvironment is shown in the following figure.
Refer to par. 12.5 BASE automatic calculation for positioners on page 590 for a detailed
description.
5.17.2.1.2 Tool
This subenvironment allows defining the working tool dimensions when mounted
onto the robot flange.
In such a situation the robot is used as a measurement device.
The tool calculation must always be executed the first time a tool is mounted onto the
flange, or when, referred to the initial situation, the robot has been moved or calibrated.
The main page of the Tool subenvironment is shown below.
Refer to par. 12.3 TOOL automatic calculation on page 556 for a detailed description.
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5.17.2.1.3 Uframe
This subenvironment allows defining a new reference frame for teaching the work
positions. The calculation accuracy is the one of the robot, used as a measurement
device in this situation.
The main page of the Uframe subenvironment is shown below.
Refer to par. 12.4 UFRAME automatic calculation on page 581 for a detailed
description.
5.17.2.2 Calib
This subenvironment provides a set of commands allowing the Arm configuration,
according to the user’s needs.
Operate from within the Motion Page, Basic subpage, if changing the current arm is
required.
In these sub-pages, editable data are just the ones included in columns with a white
background (CAL_USER and CAL_DATA). The other ones are read-only data.
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The system has to be in PROGR status (modal selector switch on T1 position) and the
drives must be kept ON during the whole turn-set operation.
To activate the Turn Set procedure, short touch the Turn Set key. Before starting
execution, the System prompts the User for confirmation:
The system prompts the user for confirmation before executing the Turn Set operation.
Touch Yes to confirm.
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5.17.2.2.2 Calib
Short touching this key, it is allowed to execute the calibration procedure either for the
whole Arm or for the specified axis/axes of such an arm.
Before issuing the command, the Arm must be moved to the Calibration Position. To
indicate the wished axis, select it before starting the procedure. Selecting all the axes
(touch + SHIFT) means to calibrate the whole current arm.
NOTE THAT data are just saved when ALL the axis have been calibrated.
This command CANNOT be used if the user profile is NOT Service profile.
The system must be in PROGR state and the drives must be kept ON for the whole
calibration operation.
The calibration data are automatically saved in NVRAM memory, in the configuration file
(<$SYS_ID>.C5G) and in the ASCII calibration file <$SYS_ID>_CAL<num_arm>.PDL.
The system prompts the user for confirmation before executing the Calibration
operation.
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– Learn (CAC/L)
Learns the current position as the user calibration position ($CAL_USER). The
learning procedure is executed on all the selected axis. This command DOES NOT
perform any saving operation.
– NoSave (CAC/N)
NO saving is automatically performed of .C5G file, of
<$SYS_ID>_CAL<num_arm>.PDL ASCII calibration file and of the calibration data
in NVRAM memory.
– User (CAC/U)
The previously taught or assigned user position ($CAL_USER) is used as the
calibration position.
– User NoSave (CAC/UN)
This is a combination of previous User (CAC/U) and NoSave (CAC/N) options.
Touch the wished opion: a prompt message is displayed waiting for the User to confirm
it. Answer Yes to start the Calibration procedure; No to cancel it.
Fig. 5.44 - Data handling in Turn set (CAT) and Calibration (CAC)
commands
5.17.2.2.3 Save
Short touching this key causes the axes related data to be saved, from the Control Unit
memory to NVRAM memory, and to automatically update <$SYS_ID>.C5G
configuration file and <$SYS_ID>_CAL<num_arm>.PDL calibration file.
The user can also select some options, by long touching Save key and then the item
corresponding to the wished operation.
The available options are as follows:
– NoFile (CARS/N)
this disables automatic saving of both <$SYS_ID>.C5G configuration file and
<$SYS_ID>_CAL<num_arm>.PDL calibration file
– Motors (CARS/M)
this handles saving the calibration data to the individual motors flash.
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A suitable message is dispalyed after saving the calibration data, to suggest to the user
to save the system configuration.
5.17.2.2.4 Load
Short pressing this key causes the arm data (calibrated axes mask) and each axis data
(axis length, calibration values and calibration constants), to be loaded from NVRAM
memory to the Control Unit. The configuration file (<$SYS_ID>.C5G) and the calibration
file (<$SYS_ID>_CAL<num_arm>.PDL) are automatically updated.
It is also allowed to choose among some options, by long touching Load key and
touching the wished item.
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5.17.2.2.5 Edit
Touching this key (see above figure on the left) a subpage is opened in which the user
is allowed to modify CAL_USER and CAL_DATA values related to the selected axis, as
shown in the above figure on the right. Touch OK key to confirm the modifications and
close the subpage.
5.17.2.3 Collision
This environment allows choosing the wished algorithm to handle Collision Detection
(optional feature) (Motion Programming manual).
As shown in the previous figures, the user can choose between:
– Collision detection 1.0 - indicates that the functionality is handled in traditional
mode, i.e. by PDL2 program, using dedicated built-ins for the user to setup the
sensitivity thresholds.
– Collision detection 2.0 - indicates that the functionality is handled by 2.0
algorithm, which releases the user from the duty of calculating the axes sensitivity
thresholds.
A gauge is displayed allowing to select
• high sensitivity
• medium sensitivity
• low sensitivity.
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Note that the compatibility with the existing PDL2 programs is guaranteed, anyway.
The system configuration, including all the modifications, is saved when touching Yes
key.
To exit, touch either
– OK - the user should confirm for saving the system configuration, even if no
modifications have been made. Then the page is closed
– Cancel - if any unsaved modifications have been made, the system warns the
user. It is then allowed to save them before closing the page.
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5.17.2.4 Column
This environment allows handling settings for the integrated rotating column.
CAUTION
The Integrated Column configuration must be executed by using auxiliary axis no.7.
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– relative position between the column base and the robot base.
5.17.2.5 Conveyor
This environment allows handling setup operations for tracking functionality, by means
of sensors, conveyor trucks, etc., integrated into the robotic system.
The main page includes a Summary Table of 10 elements corresponding to the currently
existing Tracking tables in the system.
The Summary Table columns contain the following informationi:
– Index
is the Tracking Table index
– Mask of Arms
is the Arm Mask, associated to such a Tracking Table; only the selected Arms will
be enabled for tracking
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– Application
is the application (e.g. Conveyor) which is associated to such a Tracking Table.
The following commands are available in the Functional keys menu:
– Edit - allows editing the selected Tracking Table (see Tracking Table editing
procedure)
– Reset - all data in the selected table are set back to the default values; the user is
asked to confirm
– Save - saves all data belonging to the Summary Table to .C5G file, WITHOUT
leaving the Tracking environment.
Perform a Control Unit Cold Restart (see par. 5.8.2.2.1 Cold on page 104) operation,
in order to make all settings operational.
– Quit - quits the Tracking environment without saving; the User is asked to confirm.
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b.1 If it is a new Tracking Table, the only displayed field is Application. If it is n already
existing table, instead, all the fields are displayed, thus directly go to c. step
c. The complete page includes the following fields (see Fig. 5.47):
– Application - is the wished tracking application type (e.g. Conveyor)
– Kit - is the Tracking device. The available ones are
• Predefined
• User defined
– FMI - in case of Predefined Kit, $FMI is automatically set by the system; in
case of User defined Kit, the User must specify the wished $FMI
– Conversion factor - is the conversion factor from the input port value unit of
measure to the the conveyor unit of measure
– Conveyor type - is one of the following
• linear
• circular
• bending
– Conveyor radius - to be specified (in mm) only for circular Conveyor
– Mask of Arms - indicates the enabled Arms for tracking operations to the
C5G Control Unit. Select the wished checkbox(es).
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Select the wished values in the listed above fields according to the editing modes
of the different Field types.
e. Touch Previous key to go back to the previous page and continue editing the
wished Tracking Table (see Fig. 5.47)
f. Touch Kinematics key to define the following values, associated to the selected
tracking Table:
– Maximum speed and Maximum acceleration - they are limit values for the
robot speed (in m/s) and acceleration (in m/s2), to be used while tracking
– Tracking window (1 and 2) - the first value specifies the conveyor quote from
which the robot must start with tracking; the second value represents the
conveyor quote after which no tracking with the robot is allowed.
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Perform the wished modifications, according to the editing modes of the different
Field types.
g. Touch Previous key to go back to the previous page (Fig. 5.47) and complete the
definition/edit session
h. Touch either OK key to confirm all the data in the selected Tracking Table, or
Cancel to delete all the modifications.
In any case, the program goes back to the Summary Table (Fig. 5.46) in the
Conveyor main page.
5.17.2.6 IRegions
This environment allows handling Interference Regions setup; they are
interference/interchange volumes shared between Robot and Robot, and among Robot
and structures.
For further detailed information, refer to Chap. Interference Regions (optional feature)
on page 247 in Motion Programming manual.
The home page shows the Interference Regions (IR) table, including 32 elements
(see Fig. 5.50).
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– Name
is the IR name, assigned by the User
– Type
is the Region Type, chosen among the following
• Forbidden
the TCP (Tool Center Point) will never be allowed to enter such a Region. The
System takes care of decelerating the robot in advance, in order to reach zero
speed on the Region boundary. It is exactly the opposite of the Allowed
region.
• Allowed
with this type of region, the TCP (Tool Center Point) is only allowed to move
INSIDE it. The System takes care of decelerating the robot in advance, in
order to reach zero speed on the Region boundary. It is exactly the opposite
of the Forbidden region.
• Monitored
each time the TCP either enters or leaves such Regions, a logical Output port
(chosen by the User) is modified to the predefined value.
• Hybrid
the use of such a region type is upon “reservation”, by means of assigning a
boolean value to the associated Output port; the access consent is given
when the status modification of the associated Input port. One more Output
port is used to indicate the Arm presence/absence in the region.
– Active
indicates whether the IR is currently active or not.
This could occur after the region parameters have been definined and the
Permanent flag is enabled (by this interface)
– Perm
indicates whether or not the IR has been activated by this interface. No one else
can modify its parameters, just reading them. The Region can be left by
deselecting the Permanent flag in the suitable Region page (see Fig. 5.53).
– Status
indicates whether the associated Arm is inside or outside the Region
– Arm
is the Arm which is associated to the Region
– Shape
is one of the following Region shapes
• parallelepiped,
• sphere,
• cylinder,
• plane,
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• joints.
The available keys in the functional keys menu of this Page, are the following:
– Edit - allows data editing for the selected region (see par. 5.17.2.6.1 Interference
Regions editing procedure on page 253)
WARNING - The regions can be modified by this interface, in PROGR status ONLY.
– Reset - sets back all the selected region data to the default values
– Save - the regions configuration is saved to .C5G file (see Fig. 5.51).
– Quit - exits from the environment, prompting the User for confirmation
(see Fig. 5.52). Any modification is lost if not previously saved (by means of the
described above Save command).
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c. First of all choose a Name and type it in the suitable field. Press OK to confirm;
d. to specify the region Shape, touch Shape field to open the corresponding menu;
f. to specify the region Type, touch Type field to open the corresponding menu;
h. If the chosen Type needs some logic ports (either Monitored or Hybrid region - see
examples in Fig. 5.54), also indicate
– port Type ($DOUT, $OUT, $BIT, $WORD, $FMO, $DIN, $IN, $FMI)
– Index
– Logic to be used (ON / OFF). As soon as the Arm enters such a region, the
port is set to the value which is indicated by this field.
When using analog ports (e.g. $WORD), also specify the Bit chosen as the Output
signal.
WARNING - all the specified logic ports must have already been mapped!
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k. touch either Next to continue, or Cancel to delete the current operation and go
back to the Interference Regions (IR) Table, starting again from a. step.
62541 - IR yy reached
For Joint type regions, refer to par. 5.17.2.6.2 Tips about special shape regions on
page 258.
m. Touch Teach.. key to continue. Except for Joint regions, it is needed to teach some
points to unambiguously define the region.
For Plane type regions, refer to par. 5.17.2.6.2 Tips about special shape regions on
page 258.
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An informational page is displayed about Tool and Base coordinates which are used for
the TEACH phase (see Fig. 5.56 on the left): they are the currently selected ones from
Motion General sub-page (see Fig. 5.56 on the right)
n. Touch either Next key to continue, or Cancel key to delete the operation and go
back to the previous page (Fig. 5.55), leaving the Teach phase.
o. One page is displayed for each needed point to define the currently selected
region. The total amount of points depends on the chosen shape type.
In the topmost row (see Fig. 5.57 on the left, highlighted in red), the current TEACH
phase step is displayed as well as the total amount of required steps for the chosen
shape type.
Two columns are also displayed:
– left column shows the TCP current position coordinates in the WORLD
reference frame,
– right column shows the coordinates of the position pointed out by the yellow
arrow (if previously taught).
Jog the Arm to the wished position, which will thus be associated to the point
indicated by the yellow arrow (see above figure, on the right).
q. Touch either Next key to teach the next point, or Cancel to delete the TEACH
phase and go back to l. step; the user is prompted for confirmation before deleting
the TEACH operation.
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r. A page is dispalyed to TEACH the next point (see Fig. 5.58, on the left); operate as
described for o. step, for each displayed page.
s. At the end of the TEACH phase for each required point, either touch Next key to
continue, or Cancel key to delete the TEACH phase and go back to l. step.
NOTE THAT if the Arm must be moved to a taught position, the Move to key is available,
keeping both the DRIVE ON status and the START button pressed; to interrupt the
movement, use the Abort key.
Such a movement is of joint type.
t. A summarizing page is displayed of all the calculated values, also including the
User Frame associated to such a region (see Fig. 5.59); in our example the
cylindrical region height has been calculated.
The data are read-only.
Touch either
– OK key to confirm the results and exit from the TEACH phase, affirmatively
answering to the related prompt; or
– Previous to go back to the previous page (step r.), or
– Cancel to delete the TEACH phase and go back to l. step
Please, note that the calculated values are NOT saved in the .C5G file, until this is
explicitly requested by means of Save command, from the main Page of the current
functionality (see Fig. 5.50)!
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Plane
When the region shape is a PLANE, this environment allows choosing between two
different modalities, in order to teach the region points (see figure above).
The user must choose between the following TEACH modalities:
– Any orientation plane
– Horizontal/vertical/lateral orientation plane.
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Joint
In the displayed page three columns are shown which include information for each joint
of the Arm:
– Negative - negative stroke end for the joint
– Positive - positive stroke end for the joint
– ARM_JNTP - joint current position.
The values belonging to the first two columns (stroke end) are only visible if the
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corresponding checkbox is selected (example: see joint 1 and 2 in the figure below).
To define a region, different from the one defined by the stroke end values (without
anyway modifying them), touch the checkbox associated to the being modified joint(s),
to select it; edit the required value (as shown in the following figure, on the left) and then
touch OK key to confirm.
At the end of the editing phase, continue the procedure from s. step till the end.
5.17.2.7 Mounting
When Mounting icon is selected, a screen page is displayed showing the current
mounting position; the user is allowed to modify it in order to declare to the System how
the robot is actually mounted:
– on ceiling,
– on floor.
If the robot type can be mounted onto an inclined plane, there are two more mounting
modes:
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Mounting onto an inclined plane is only allowed for NS, NM and SIX robots.
To declare a robot Mounting type, act as follows (please refer to the shown above
figures):
a. touch the wished choice, to select it (On ceiling or On floor); if Mounting mode
does not include an INCLINED PLANE, go to step b.
b. save the modified configuration by touching either Apply key (does not quit
Mounting environment) or OK key (quits the Mounting environment). In both cases
the user is asked whether the system configuration is to be saved.
5.17.2.8 MultiTurn
This tool is dedicated to the mutiturn tables automatic calibration setup.
It can be accessed from Setup page, Motion group, as shown in the following figure
example:
MultiTurn tool is only available when at least one multiturn table exists in the system.
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The purpose of this tool is to allow the user to configure and read the multiturn tables
parameters, executing the First Calibration, if required.
Any further operation, such as the Automatic Calibration, is NOT performed by this
tool. The user should take care of it, by means of his/her own PDL2 program.
For this purpose two routines are provided that the user should properly insert into
his/her PDL2 program which handles the multiturn table:
– cal_usr ROUTINE
– TRri_cal_at_turn ROUTINE.
For a detailed description, please refer to par. 5.17.2.8.3 Routines for rotating tables
calibration on page 264.
5.17.2.8.1 Display
This read-only page, displays all information related to the table current status:
– Turns completed
is the total amount of complete turns executed by the table, counted during the last
calibration
– Current joint degrees
is the total amount of degrees covered by the table during the current not
completed turn
– Turns before automatic calibration
is the total amount of completed turns left before the Automatic Calibration
execution. Note that the maximum number of turns between an Automatic
Calibration and the next one, must be setup by the user in the Config page
– HDIN Status
this boolean value indicates the current status of the rotating table calibration
sensor, associated to the High Speed Input port.
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5.17.2.8.2 Config
This page allows setting parameters and issuing commands, related to the multiturn
tables configuration.
The available information is:
– Maximum number of turns
indicates the maximum allowed number of turns. It is used by the system to setup
the new Stroke-Ends.
– Automatic calibration after turns
indicates after how many complete turns the Automatic Calibration must be
executed.
– Rotation
indicates whether the rotation is executed Clockwise or Anticlockwise. This
setting must comply with the working cycle and is used by the system to setup the
new Stroke-Ends.
The black arrow displayed in the page, graphically represents the made selection.
The following commands are available in the Functional keys menu to act on such
parameters:
– Modify
– Learn.
Modify
This command allows accessing the displayed parameters and modifying them.
All fields become editable by the user, simply touching this key, as shown in the
following figure.
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When all modifications are done, act in either one of the following modes:
– touch Save key to save and make all modifications operational. Depending on the
modification level, the program requires a system restart or not (follow the
instructions displayed in the dialogue windows);
– touch Cancel key to exit from the program without keeping any modifications.
Learn
Once the suitable values have been set in the Config page fields, touch this key to start
the First Calibration guided procedure, on user position.
A dialogue window is displayed asking the user to keep START button pressed, until the
procedure completion. Carefully follow each indication provided by the guided
procedure.
Pressing this softkey causes to start init_cal_usr ROUTINE execution.
init_cal_usr ROUTINE
This routine performs the First Calibration. It is executed by the Multiturn Tables
configuration tool, upon touching Learn key in Config page.
First phase - the table moves to zero quote, at regular speed. Note that in such a position
the standard calibration reference marks are aligned.
Second phase - a movement is executed at reduced speed in order to search for the
calibration sensor. The detected position at the research end, is saved as master, for
further calibrations.
cal_usr ROUTINE
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Please remember that it is the user responsibility calling this routine to execute the
Automatic Calibration, choosing to call it either when the turns number reaches the
maximum set value, or in any other moment.
For this purpose the user should properly insert the routine call statement in his/her
PDL2 program.
TRri_cal_at_turn ROUTINE
This routine returns the corresponding value of the Automatic calibration after turns field.
More specifically, it is used by the user program to decide whether calling cal_usr
ROUTINE is needed or not, comparing with the table current position.
For this purpose the user should properly insert the routine call statement in his/her
PDL2 program.
5.17.2.9 PAL
This environment allows specifying that the current Arm works as a palletizer.
Touch the checkbox to select it (see previous figure), in order to specify the robot is a
palletizer.
Touch either Apply key to save the configuration and remain inside the environment, or
OK key to save it and quit the environment.
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5.17.2.10 PalBooster
This environment allows modifying the torque value for the first axis, in case of palletizer
robots.
5.17.2.11 Payload
This icon allows activating the Automatic Payload identification (optional feature)
program.
For further information refer to the dedicated chapter.
5.17.2.12 Portal
This environment allows setting needed parameters to configure:
– Gantry with 2 linear axes - in this screen page the user has to specify, for each
axis
• the axis type (X, Y and Z),
• positive and negative stroke-ends
• calibration position for each axis.
Furthermore the following information is also to be specified:
• mounting angle of the robot on the gantry
• offset.
– Gantry with 3 linear axes - like the previous one, but referred to trhree axes
– Trans-rotational column - in this screen page (see an example in the below
figure), like the previous ones, the user has to specify positive and negative
stroke-ends and the calibration position.
The following parameters have to be specified too:
• ROBOT. MOUNT. ANG. - robot mounting angle on column overhanging
beam;
• ROBOT. MOUNT. POS. - robot mounting position on column (low/high);
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5.17.2.13 Posit
This environment, for a Positioner seen by the system as an AXIS, allows to
– Creating a new configuration or
– Modifying an already existing configuration,
– Saving the configuration.
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When all the needed data heve been inserted and confirmed according to each field type
modality, touch Save key to save the newly created configuration.
On this screen page the user has to specify the maximum radius of the part overall
dimensions [mm].
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– radius R1 and radius R2 of the maximum overall dimensions of the being machined
part [mm]
– 1st axis length (L1) [mm]
– 2nd axis length (L2) [mm]
– angle (alpha) between rotation axis of 1st axis and the vertical referred to the
positioner base [°]
– 2nd axis offset (L2) [mm]
– radius R1 and radius R2 of the maximum overall dimensions of the being machined
part [mm]
– 1st axis length (L1) [mm]
– 2nd axis offset (L2) [mm]
– ARM - the arm which the being configured axis (axes) is associated to.
An “L” type positioner with 2 degrees of freedom, having the second axis length (L2 in
the documentation diagrams) manually variable, can be handled by setting the
dedicated variable:
$CNRT_DATA[n_arm].VAR_OFST[n_ax]
at the beginning of the working program.
Such a modification does NOT need to configure the positioner again, save and restart.
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If, on the contrary, the user wishes to modify other already set values, Adv.Edit
command is available which allows modifying any fields in the page. The system
prompts the user for confirmation, before going ahead (next figure, on the left).
If the user confirms, all the fields become editable (e.g. in the following figure on the
right, 1st axis and Type fields are now editable for such a positioner).
5.17.2.14 Posit_Arm
This environment allows creating/modifying the configuration of a Positioner seen as an
ARM by the system.
Posit environment descriptions and configurations are still valid from the user interface
stand point. The system itself will take care of handling the inserted data, as belonging
to an ARM.
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5.17.2.15 Rail
To configure the integrated slide, the displayed fields parameters have to be inserted
(see figure below).
– Height - the distance (mm) between the floor and the robot base (installed on the
slide)
– Calib.position - slide axis calibration position (mm)
– Stroke-end Pos (mm) / Stroke-end Neg (mm) - positive stroke-end positivo and
negative stroke-end (mm)
– Angle (°) - mounting angle of the robot on the slide, measured anticlockwise from
the slide axis to the Xbase robot axis.
– TX_RATE value - transmission rate value
– Integrated - if selected, it indicates that the slide is handled in integrated mode
– TX_RATE Sign - transmission rate sign (Positive / Negative)
– Enable check of C5G-SLS status - if enabled, it allows the user to choose the
severity level for the message corresponding to the rail lubrication status (either
Warning or Error); if disabled, the message severity level is not handled by the user
– Enable as Warning - the severity level for the message corresponding to the rail
lubrication status is just informational (Warning)
– Enable as Error - the severity level for the message corresponding to the rail
lubrication status is Error.
WARNING - In case of Integrated Slide, Safe axis 7 configuration, please refer to the
dedicated USO del RoboSAFE Use manual, par.9.2 Joint/Speed RoboSAFE
functionalities for a detailed description of the configuration procedure.
The user has to enter the required values and touch OK to confirm. To cancel the
modifications, touch Cancel or press ESC.
5.17.2.16 StrokeEnd
By selecting the StrokeEnd icon, the software stroke ends of all axes of the current arm
(i.e. the currently set one in the Motion Page, Basic sub-page) can be changed.
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5.17.3 System
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5.17.3.1 Network
The following network settings environments are available from within this folder:
– Ethernet
– Ethernet Annex
– UsbToEthernet.
5.17.3.1.1 Ethernet
It handles active network settings on the Control Unit. The following data are displayed:
– network address (IP address) of the APC board
– mask for the local network (Subnet Mask), referred to the APC board
– Gateway on the APC
– MAC address of the existing Ethernet ports in the system.
The user is allowed to modify only the three first fields. The other field is read-only.
To make any changes effective, save the configuration file: enter the Configure
environment (in the SETUP-System page) and touch Save key.
WARNING
In startup phase the following error message could occur:
This could happen because of a failure in the IP address attribution of the Control Unit
main Ethernet interface, e.g. due to IP addresses conflict among devices on the
network.
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5.17.3.1.3 UsbToEthernet
This is an environment to configure the USB cable to/from Ethernet.
After selecting Enable USB to Ethernet checkbox, the system displays the default
values, useful to the user as a help to the being inserted data format:
– IP address of the C5G Control Unit,
– mask for the local network (Subnet Mask)
– IP address of the Remote Host.
Insert the wished values.
At the end of the configuration data insertion, touch either OK to confirm or Cancel to
finish without any modifications.
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To make any changes effective, save the configuration file: enter the Configure
environment and touch Save key.
5.17.3.2 Autologout
This is the subpage to configure the “Automatic Logout” functionality.
For further information about such a functionality, see par. 4.3.1 Automatic Timed
Logout on page 50.
CAUTION! when a Startup Login has been defined in the system, this will be the user
level the Automatic Logut switches to: this means, in fact, that in case of Automatic
Logout the system performs a logout of the current user and immediately logs in the
Startup user (see par. 5.17.3.9.2 Startup on page 290).
If the Automatic Logut is just needed to avoid access to the current user, DO NOT set
any Startup user!
5.17.3.3 Backup-Restore
This environment is used to set the SaveSets and the Device for the Backup / Restore
operations.
IT DOES NOT EXECUTE THESE OPERATIONS: to do so, after having defined the
Saveset, it is necessary to access Files Page, command Disk, Backup, Backup of
Saveset or Restore, Restore of Saveset.
.
See also HINTS FOR BACKUP AND RESTORE USE.
If the user wishes to create a new SaveSet or to modify an already existing one, the
procedure is basically as follows:
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c. insert the wished changes or create the new Saveset. The needed tools are
automatically made available by the system
d. touch OK key or press ENTER key to confirm, or cancel by pressing ESC key.
The following setup commands are provided for these functions:
– Backup
– Restore
– Device
5.17.3.3.1 Backup
Displays, allows to create and modify the Savesets to be used to carry out the Backup
operation (as shown in the figure below).
Every Saveset holds information about device, files and sub-directories to be copied
towards the default backup/restore device (which is displayed in Device sub-page), as
well as all options to be used for such a Saveset.
Among the available Savesets, there is a predefined one, called Srv, which is to be used
to save a specific situation before calling COMAU Assistance.
It is recommended not to activate the backup operation with such a Saveset, during the
process: it could slow it down.
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b. touch Edit to open the next subpage and modify the included settings.
d. touch OK to confirm.
f. touch Edit to open next page which allows specifying: source device,
subdirectories, names of the files to be backed-up and options associated to the
Saveset.
g. Insert the wished modifications into the File field (by means of the Alphanumeric
keyboard opened by the system) and then touch OK to confirm them.
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– Exclude Files (/X) - the indicated files will not be included in this Saveset.
Specify them separated by ‘;’ . Ex. *.aa;*.bkc
i. To insert some more RULEs to be associated to this Saveset, a new line must be
used of the main page, and steps from a. to h. must be performed.
For further information, refer to par. 6.9.4.8 Backup and Restore commands on
page 388, in Chap.6. - System Commands on page 355.
5.17.3.3.2 Restore
Displays and allows to modify and create Savesets to be used for Restore operations.
See NOTE regarding the total amount of entries in the UD: root directory.
Every Saveset holds information concerning device, files and possible sub-directories
to be restored from the default backup/restore device (displayed in the Device subpage),
as well as all options to be used for such a Saveset.
The user can define new Savesets:
– the value displayed in the first left column is the index of $RESTORE_SET[ ]
predefined variable, for such a Saveset.
– The displayed string in NAME column indicates the Saveset name that can be
used by the system during restore operations (performed from within the Files
Page, Disk subpage - Restore or Restore of Saveset, when the Saveset option is
selected).
– DEFINITION indicates the content of this Saveset. Characters following the slash
(‘/’) represent the possible options associated to the Saveset.
To operate on Savesets, act as follows:
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b. touch Edit to access the next page and modify its settings.
e. If wished, touch the Saveset to select it and then edit the Se lo si desidera,
selezionare il Saveset per modificarne la Definizione
f. touch Edit to open the next page allowing to specify: source device, subdirectories,
names of the files to be restored and options associated to the Saveset.
g. Type in the modifications in the File field and then touch OK to confirm them.
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i. To insert some more RULEs to be associated to this Saveset, a new line must be
used in the main page, and steps from a. to h. must be performed.
For further information, refer to par. 6.9.4.8 Backup and Restore commands on
page 388, in Chap.6. - System Commands on page 355.
5.17.3.3.3 Device
This subpage allows to setup the default device for backup/restore operations. It is the
default destination device for the Backup command and the default source device for
the Restore command.
a. touch Backup/Restore Device field; the system opens the available devices list
b. touch the wished device name, to select it. If the user wishes to define a
customized path (device, directory, subdirectory, etc), select New item...
c. If New item... is the choice, the alphanumeric keyboard is displayed by the system
to allow the user to type in the wished path
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d. touch OK to confirm.
5.17.3.4 Configure
In this subenvironment the user can activate some functions related to the configuration
files, by means of the following keys existing in the Functional keys menu (see figure
above):
– Save
allows saving modifications, related to the configuration predefined variables
values and User data base values; creates a new <$SYS_ID>.C5G configuration
file and a new <$SYS_ID>.UDB user data base file.
Note that it is allowed to modify the related data (below figure, on the left), i.e.
Device, Directory and Name of the file, before going on with Saving operation, by
simply touching File combobox.
The system prompts the user for confirmation. Answer Yes to start the operation
execution (see below figure, on the right).
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For further information about this functionality, refer to System Commands chapter,
CONFIGURE SAVE ALL (CSA) paragraph.
– Load
allows loading all values contained in <$SYS_ID>.C5G and <$SYS_ID>.UDB files
to the corresponding predefined variables.
Note that, like for Save command, it is allowed to modify the related data, before
asking for Loading operation, simply touching File combobox.
The system prompts the user for confirmation. Answer Yes to start the operation
execution (see below figure, on the right).
For further information about this functionality, refer to System Commands chapter,
CONFIGURE LOAD ALL (CLA) paragraph.
In the page of File and path choice, opened by touching File combobox, a Browse...
command is available (see previous figure on the left) allowing to specify wished device
and folder, for <$SYS_ID>.C5G and <$SYS_ID>.UDB configuration files, surfing within
the directories tree.
In order to use a different Device than the current one, touch Device field and choose
the wished one from the displayed list.
View command allows choosing how files and folders icons are displayed (either Big
icons or Details).
At the end of the choice (in the shown above example, CNTRLC5G_0.c5g file has been
selected) , touch OK key to confirm.
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5.17.3.5 Customer
This environment allows the user to initialize/modify some fields of the Home Page:
– CUSTOM_CNTRL_ID, is the Control Unit name assigned by the user
(corresponding to the content of $CUSTOM_CNTRL_ID predefined variable).
Touch the field to open the Alphanumeric keyboard. Insert the wished data and
touch OK to confirm.
– CUSTOM_ID, are the names assigned by the user of the possible 4 Arms
(corresponding to the content of the $CUSTOM_ID predefined variable 4
elements)
Touch each being modified/initialized field, to open the Alphanumeric keyboard.
Insert the wished data and touch OK to confirm it.
Finally, touch OK to exit from Customer sub-page saving modifications. Touch Cancel
to exit without saving anything.
5.17.3.6 Date-Time
This icon allows the user to access both date and time and daylight saving time setting
environment.
The user can operate on the wished data, by selecting the corresponding field:
– Manual settings
– Automatic settings
– Daylight saving time.
Manual settings
The User can edit Day, Month and Year fields for the current DATE, and Hour, Min and
Sec for the current TIME (as shown in the below figure).
Touch the wished fields, use the automatically opened keyboard and touch OK key each
time, to confirm.
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Automatic settings
The user is allowed to synchronize the system clock by means of the SNTP (Simple
Network Time Protocol) protocol.
To do so, the following fields must be configured:
– IP address SNTP server to synchronize the required setting,
– wished TIME ZONE, with Hour and Min fields. The allowed range for such fields is:
• Hour field -12 to +13
• Min field 0 to 59.
The typical use of such a modality, is timing synchronization of several Control Units on
the same network.
Regardless of previous settings (either manual or automatic), the user can access the
Daylight Saving Time settings by pressing the corresponding Combobutton (Daylight
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– Enable - when selected (below figure, on the left), the system switches to the
Daylight Saving Time immediately. Such a choice causes the Daylight Saving Time
field in the Date-Time main page, to be set to ON (below figure, on the right).
– Planning - when selected (below figure, on the left), the user is allowed to
schedule the beginning and the end of the Daylight saving time, according to the
following criteria:
• week of the month - first..fourth, or simply the last of the month.
• day of the week - sunday..saturday
• month of the year - january..december
• time of the day - 0..23.
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For each being inserted value, touch the corresponding field to select it: the system
opens either the suitable list or keyboard. After inserting the wished value, touch
OK to confirm.
Such an information is to be provided both for the Daylight saving time beginning
and end.
Finally, touch either OK to confirm or Cancel to exit without modifying.
Such a choice causes the Daylight Saving Time field in the Date-Time main page,
to be set to AUTOMATIC (above figure, on the right).
At the end of the settings, from within the main screen of Date-Time environment,
touch either OK to confirm or Cancel to exit without modifying.
In case of either the SNTP IP and/or the Daylight Saving Time have been modified, the
user is prompted to save the configuration file (see the Save command description)!
5.17.3.7 ExeHelp
This environment allows inserting, in a suitable predefined array ($EXE_HELP[]), the
most used components in the user’s PDL2 programs: variable names, constants,
routines, statements, etc.
The main page shows the currently inserted elements.
To add a new element, touch twice an empty row: the system automatically opens the
PDL2 keyboard.
Insert the wished string according to such a keyboard modalities; touch OK to confirm.
Once they are inserted in this environment, all the elements are available in the History
which is the list associated to the PDL2 keyboard (next figure, on the right).
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To view it, touch the red highlighted symbol in the following left figure.
5.17.3.8 Install
Allows to install the specified application. The user has to:
a. select the device from which the files of the being installed software must be read,
i.e. touch Device field
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Note that the available Projects/Applications, listed in the current menu, correspond to
the existing .APPL files in the selected device (step b.) root.
The user/integrator can customize his/her Projects/Applications menu (according to
what’s described in par. 5.23.5 Adding Projects/Applications, installable from within
SETUP Page on page 351).
h. If all the page settings are ok, touch Install key to install all the requested objects
(as shown in the next figure). If they are not ok, on the contrary, such a key is not
enabled and a suitable message warns the user about the situation.
5.17.3.9 Login
This environment provides information and allows modifications, as far as concerns the
System access (Login).
The displayed information is:
– Username
– Startup - flag indicating whether this login is used or not upon the system restart.
– Profile - associated user profile to this username.
5.17.3.9.1 Users
Allows adding/modifying/deleting the configured users. The Administrator profile login is
required, to be allowed executing these commands.
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While defining the Technology profile, a positive numeric value must be specified,
otherwise such a profile will not be taken into consideration.
– Delete
Cancels the selected user from the system database.
Select the being deleted user, by touching the corresponding row, then touch
Delete command.
– Modify
Allows modifying the selected user’s access rights: user profile and, in case of
Technology, profile type (either 1 or 2). It is enough to edit the wished fields and
then confirm by touching OK.
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5.17.3.9.2 Startup
Enables/disables the selected login to be used upon the system restart.
Touch the wished profile row, to select it.
Touch Startup key; a page is displayed in which the user is asked to insert the selected
profile password.
Save the system configuration file (by means of Save command in Configure
environment) to make the modifications operational.
Note that only one Startup Login at a time is allowed.
5.17.3.10 NoAlarm
It allows to exclude notifying some alarms towards PLC.
A suitable subenvironment is displayed including the codes list (maximum of 8
elements) associated to alarms which are NOT to be sent to the PLC.
To add a new element, touch an empty row. The system opens the numeric keyboard.
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Insert the wished code and touch OK key to confirm. The displayed text in the row is
viewed in Italic style.
Touch either Apply or OK key, to cause the new code to be immediately operational.
Then displayed text in the row is then displayed in the default style. Touch OK key to
quit the page.
Touch Delete key to cancel the currently selected alarm from the list. Multiple selection
of alarms is also allowed, in order to cancel them all issuing just one command. The
system does NOT prompt the user for confirmation before deleting.
If it is wished to keep the modification also upon shutdown, save the system
configuration.
5.17.3.11 Reload-Sw
The current sub-page allows executing operations related to System Software
load/update.
PAY ATTENTION!
Before selecting the Reload-Software icon, insert, in the Control Unit USB port, a
disk-on-key containing the image of the System Software released by Comau, including
the subdirectories. The main directory of the software version has a name like the
following:
C5G_<V>_<v>
where ‘V’ and ‘v’ stand for the full identifier of the being loaded version.
For example:
C5G_2_30
is the main directory where 2.30 Software version is contained.
As soon as the Reload-Software environment is entered, the page shown in the above
figure is displayed.
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Touch DEVICE field to select the port where the USB Flash Disk containing the being
loaded software has been inserted, from the displayed list.
In the two VERSION fields the full identifier of the current System Software version is
displayed. In the shown above example the being loaded version is 2.30.
Please, note that the USB Flash Disk could include several different Software versions.
Then the user must choose the wished one, among the following procedures:
1. System and TP upgrade - it allows to UPGRADE both the System Software and
the Teach Pendant Software
2. Robot configuration upgrade - it allows to UPGRADE the System data files without
losing the current configuration, set by means of Comau official tools
(e.g. stroke-ends, integrated slide data, etc.)
3. Completion of the System configuration (.C5G) - it allows to INTEGRATE further
axes and/or arms to the current configuration
4. TP only upgrade - it allows to UPGRADE, if needed, the Teach Pendant Software
and the User Interface Software
5. Full loading of System and TP - it allows to perform COMPLETE LOADING of the
Control Unit System Software, the Teach Pendant Software and the robot
configuration.
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a. After the procedure has been started, a subpage is displayed to inform that
upgrading is going on. A vertical progress bar, on the screen right side, shows the
working progress for the required operation.
b. When needed, the Teach Pendant loads the BSP software on the flash memory: if
executed, this operation takes about 10 minutes and includes the following steps:
b.1 be sure to have a USB Flash Disk available containing update.img file and update
folder, released together with the software version and existing in the version TP
subfolder. Insert such a USB flash disk into the Teach Pendant TX: port.
b.2 Restart the Teach Pendant by touching at the same time the suitable keys (see
par. 5.3.1.4 Keys to restart the Teach Pendant on page 64) AX 7+, 8+, 9+, 10+.
b.3 The Teach Pendant detects the presence of the USB flash disk and displays the
Update Page (see the figure below). No further choices are needed: the operation
is automatically performed.
CAUTION - Do not switch the device off, do not remove the USB flash disk and do
not disconnect TP5 from the Control Unit, for the whole procedure.
b.4 As soon as the upadate operation is completed, a page is displayed for the touch
screen Calibration.
b.5 Sequentially and accurately touch the 4 crosswise indicators, shown on the screen.
If this procedure is not performed with the proper precision, the Teach Pendant will
ask for starting it again.
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b.6 The Teach Pendant automatically restarts at calibration completion and keeps on
with loading the remaining C5G Control Unit software modules.
CAUTION - It is very important not to switch the Teach Pendant off during this phase,
waiting for the copy operation end.
b.7 When the procedure is finished, if all the required operations have properly been
executed, the Teach Pendant displays a message for “operation completed” and
waits for the Reboot button to be touched (as shown in the figure here below): this
is needed to restart the Teach Pendant.
b.8 At the Restart operation completion, the Startup Page is displayed on the Teach
Pendant screen. The default Startup Page is Desktop Page.
a. The procedure runs SETUP 1 program with the following start page:
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b. Select the wished language for executing the procedure, by touching the language
name.
d. choose the wished device by touching its name in the list, then touch OK key to
confirm.
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c. the program loads the required data and displays a screen page in which the User
is requested to select or confirm the device and touch Next key to continue.
e. select it by touching its name, from the list opened by the system
g. The Type field is then displayed in which the user should specify the wished
auxiliary axis type.
h. Select it by touching its name, from the list opened by the system
j. Then the program displays some fields related to the chosen auxiliary axis, in
which the User must insert the required values:
• Address - motor drives address - usually, the number in the upper field is
equal to the number of the arm which the axis belongs to; it is the value which
is preset on T2 rotary switch (see Fig. 5.61).
The lower field includes a sequential value which is the first availabe value,
starting from 4: 1, 2 and 3 values are reserved to the Robot axes; such a value
is the one preset on T1 rotary switch (see Fig. 5.61).
• Axis - logical index of the being added auxiliary axis
For further information, please refer to par. POWERLINK Ethernet, in C5G Control Unit
- Technical Specification manual.
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Note that when the module is double and the first section has already been used, the
User must confirm the same module and select channel no.2.
• Safe - enables/disables using Safe Motion functionality for the involved axis.
k. After the above data insertion, add further auxiliary axes and/or arms, by means of
AUX2 and/or n.Arm keys.
See also par. Safety Stop: setting the stop circuit timer, in the C5G Control Unit -
Transport and Installation, manual, for further information.
a. After starting the procedure, the steps are the same of System and TP upgrade
procedure.
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e. the program loads the needed data and displays a screen page in which the user
should either select or confirm the device and then touch Next to continue.
f. Some screen pages are displayed in which the User is requested to insert
information such as:
• arm number (ARM field)
• ROBOT Family
• ROBOT Type
• Serial Number ROBOT
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h. The User is asked to confirm the current Arm data. Touch OK key to confirm;
SETUP 1 program is ready for further auxiliary axes adding, if required.
i. If wished, add an auxiliary axis, selecting it from the menu which is opened as soon
as the External Axes field is touched
k. Select the axis Type, from the field which is then displayed
m. The program displays some fields related to the chosen auxiliary axis, in which the
User should insert the required values:
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Note that when the module is double and the first section has already been used, the
User must confirm the same module and select channel no.2.
• Safe - enables/disables using the Safe Motion functionality for the involved
axis.
n. After the above data insertion, add further auxiliary axes and/or arms, by means of
AUX2 and/or n.Arm keys.
o. After the above data insertion, add further auxiliary axes and/or arms, by means of
AUX2 key. If a new Arm is wished, touch n.Arm key. No matter of which is the
coice (either adding axis, or adding arm, or going on with the procedure), the
program displays the inserted values and waits for the User to confirm them.
q. Let’s suppose the User has touched n.Arm key to add a new Arm. Select the
wished device or confirm the current one by touching OK.
r. Like described above for adding a new axis, some screen pages are displayed in
which the User is requested to sequentially insert the needed information for the
new Arm:
• ROBOT Family
• ROBOT Type
• Serial Number ROBOT
• Axis - logical index for the axis of the being added Arm
• Address - motor drives address - usually, the number in the upper field is
equal to the number of the arm which the axis belongs to; it is the value which
is preset on T2 rotary switch (see Fig. 5.61).
The lower field includes a sequential value which is the first availabe value,
starting from 4: 1, 2 and 3 values are reserved to the Robot axes; such a value
is the one preset on T1 rotary switch (see Fig. 5.61).
For further information, please refer to par. Ethernet POWERLINK address, chap.
Details about the C5G Control Units, in C5G Control Unit - Technical Specification
manual.
t. The User is asked to confirm the data both for Arm 1 and Arm 2.
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w. A screen page is displayed in which the User must specify some settings for the
Control Unit:
• Serial Number C5G - it is the Control Unit serial number together with
indication of the referred Country
• Language - default language for the Control Unit
• Move Programming - set to MODAL by default
• Safety Stop Time - in case of PDTV/O (/ORB), the user is requested to
specify the value, in seconds, for setting the safety stop time.
See also par. Safety Stop: setting the stop circuit timer, in the C5G Control Unit -
Transport and Installation manual, for further information.
x. To complete the procedure, the User can choose one of the following keys (as
shown in the above figure):
• Save - to save the inserted data. Touch Restart at the end of saving
operation.
• Restart - to exit from the procedure. The System is restarted. If the data have
NOT been saved, e.g. for any wrong operationy, an informational message
warns the User about that. Provide saving data and then touch Restart key
again.
5.17.3.12 Startup
In this sub-page it is allowed specifying the name of the startup program which is to be
run each time the system restarts (STARTUP field in the below left figure).
Such a program may be holdable or non holdable; running a holdable program only
starts when the START pushbutton is pressed.
The name of the startup program is stored in $STARTUP predefined variable.
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To choose it, touch STARTUP field (previous letf figure) in order to enable accessing to
the page for choosing the wished program (previous right figure).
Select the wished file and touch OK to confirm.
Selecting Automatic save field, AUTOSAVE functionality is enabled for both ODE and
DATA environments, when the system status switched to AUTO.
If no program name is selected with this command, the contents of variable $STARTUP
are reset, therefore, if the setting is saved, no startup program will be run at the Control
Unit restart time.
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This User Page is the starting point for the service operations.
It is composed by two subenvironments, selectable by touching the corresponding
icons:
– Motion
– System.
Select the icon related to the wished subpage.
5.18.1 Motion
– Arm
– MultiArm.
PAY ATTENTION!
The use of the other environments is reserved to Comau After Sales Service.
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5.18.1.1 Arm
This page includes more specific information than the one in Basic subpage (Motion
Page), related to the axes existing in the system (see Fig. 5.62). These are read-only
data:
– Currents - indicates the current of the axis motor (ampere)
– Follow - indicates the error between the current position of the axis and the wanted
one, expressed in motor turns
– Revolutions - indicates the current position of the axis, expressed in motor turns
– Temperat. - indicates the temperature of the motor relating to that axis, as a
percentage of the ratio between the mean value absorbed and the motor
characteristics. More precisely, the calculation of this value is based upon a
formula using the square of the average current taken by the motor and the square
of such a motor characteristic.
– Jointpos - indicates the current joint position of each axis of the current arm
5.18.1.2 MultiArm
Displays the current position (in Joint and in Cartesian mode) of all the axes of all the
existing Arms in the System.
The maximum number of displayed axes is 40.
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5.18.2 System
– CauseRemedy
– Eco
– Execute
– Info
– Moni
– RoboSAFE
– Trace.
PAY ATTENTION!
The use of R.o.o.t. environment is reserved to Comau After Sales Service.
5.18.2.1 CauseRemedy
This subpage allows getting information about a specified error code, as it happens in
the Alarm Page (see par. 5.10.1.2 Cause & Remedy Key on page 120).
Touch Error number field (see figure above, on the left). The numeric keyboard is
automatically opened (see figure above on the right). Insert the error code and touch OK
key. The associated Cause and Remedy are displayed.
5.18.2.2 Eco
This page displays the robot consumption and forecast.
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– Displayed fields
– Functional keys.
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Two fields are displayed in such a section, available for the user to setup the
following values:
• Acquisition period - it is the robot cycle duration in seconds. Touching this
field causes the suitable keyboard to be opened in order to allow inserting the
wished value (previous figure on the right, upper image)
• Forecast time - it is the time interval for which the consumption forecast is
wished. Touching this field a list is opened (Toccando questo campo si apre
un elenco (previous figure on the right, lower image) in which the user is
requested to choose the wished item.
At Start key pressure, the Consumption forecast (kWh) is computed on the last
4 cycles; the value is displayed in the dedicated field (previous figure on the left).
Start
Pressing this key causes a new diagnostic session to start. The Instant Power and
Consumption fields are updated and the Consumption forecast is calculated on 4 robot
cycles according to the user settings.
Date and time are displayed in the Start analysis field as soon as this key is pressed.
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Stop
Pressing this key causes the current diagnostic session to be stopped. The Instant
Power and Consumption fields are no longer updated.
Date and time are displayed in the Stop analysis field as soon as this key is pressed.
Reset
Pressing this key causes the Energy consumption field to be put to zero.
Standby
Pressing this key causes the robot to be put in standby, stopping the working cycle. The
corresponding led is on while the robot is in standby.
Diagrams keys
The left key (above figure) allows to switch displaying between Absorbed power
diagram and Energy consumption diagram.
The right key (above figure) erases the currently displayed diagram, in order to restart
with a new viewing.
Closure key
Touching the closure key (see par. – Closing current page on page 78), the user is
prompted for confirmation: when answering OK, the diagnosis session is interrupted.
Otherwise,
Otherwise, if continuing with diagnosis is wished also during other activities on the
Teach Pendant, press MENU button.
The Eco Page is then among the active functionalities (see next figure) and the user
interface is anyway available.
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5.18.2.3 Execute
This subpage is used to execute an instruction without the need to have it in the body of
a PDL2 program.
The editable fields (as shown in the following left figure) are:
– Execute
is a field containing the being executed instruction. Usually such an instruction
should have a short execution time, however it is possible inserting more than one
instruction in this field, separating them by ';' (semi colon).
– Context Program
touch the corresponding combobutton. A list is displayed including all the currently
loaded programs into the execution memory. Select the wished program and touch
OK key to confirm.
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b. a list of predefined choices is displayed when touching the red highlighted field (see
previous right figure), to help inserting the instructions. Note that the being
executed instruction can also be either directly typed in or chosen by touching
Statement key.
c. When the wished instruction has been inserted (e.g. DELAY 10000), touch OK key
to confirm it.
d. If needed, insert the context program, owning the used variables in the being
executed statement.
e. To start the execution, short touch Exec key in the Functional keys menu.
During the execution, the Abort key is available in the Functional keys menu to
interrupt the required operation, if needed (see the shown example in the above
figure).
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5.18.2.4 Info
5.18.2.5 Moni
Moni is a debug tool, so the user should use it just in case of probable problems for the
Arm (or for the Arms), in order to collect data about it.
Such data are saved into binary files which should be sent to Comau in order to analyze
the situation.
First of all, the User must select the motion characteristics to be monitored:
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– Joint/Cartesian - indicatez the being monitored motion type, thus the acquired
data type. If Cartesian is selected, Ax1..Ax6 checkgroup is not available; the only
available is All checkbox.
– ARM - indicates the involved Arm for the data acquisition
– Circular - indicates whether the data file will be cyclically overwritten, until the
specified error in field Stop when error is triggered
– Stop when error - this field is displayed just when Circular field is selected. It
indicates the error code whose occurrence is to be monitored. As soon as such an
error occurs, the program closes the data file and ends with data acquisition.
– Ax1..Ax6 and subsequent ones / All - indicate the axes whose data will be
collected
– Sampling - indicates the number of interpolator ticks ($IPERIOD) between an
acquisition and the following one
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– Length (sec) - indicates the data file dimension (the longer the acquisition time,
the bigger the file).
After setting the wished features, touch Start key to begin data acquisition. A progress
bar on the right, informs the User about the status of the operation. Touch OK when
completed.
WARNING - Each new data acquisition will overwrite the previous file and the possible
Control Unit shutdown will cause the file to be deleted. It is then strongly recommended
to save it with a meaningful name, in order not to lose the acquired information.
It is allowed to create a copy of ‘moni.log’ file of the collected data, with a name chosen
by the user, on the wished device (as shown in the below left figure).
c. Touch Copy key; please note that to copy to COMP: device, it must have
previously been set in the suitable WinC5G window (‘File Transfer Folder’ field,
Properties Window).
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SERVICE PAGE
Before using Moni environment, please contact Comau After Sales Service for
information about optimal acquisition conditions and problem analysis.
5.18.2.6 RoboSAFE
This environment allows issuing some service commands towards the Safe Logic Unit,
in order to recover from either inconsistent positions or system objects fixing and/or
replacing (retentive key, modules, firmware).
The green LED associated to Robosafe status item, indicates that the Safe Logic Unit
is in a “ready” state, which means normal running.
The available functions in this page, are just executed upon a clear system request. The
need is highlighted by a specific message, displayed in the Message bar (topmost right
side field).
Such messages clearly ask the user to recover from a situation which is preventing the
system from being in the “ready” state.
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5.18.2.6.2 Procedures
a. Touch the yellow coloured button. Please note that in case of modules
acknowledgement, the yellow coloured button depends on the total amount of
being acknowledged modules: 4 single buttons are available until 4 replaced
modules. From 5 modules on, touch N button.
b. The system displays an informational message to warn the user that the
acknowledgement is in progress, as shown in previous figure (on the right).
d. If a specific message and a yellow button require it, go ahead with acknowledging
the next object, executing the procedure again from step a.
SAFE Line Up
When message “Please execute recovery procedure to recover safe position” is
displayed (see next figure), the SAFE Line Up procedure must be executed.
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Requirements:
– system in Progr (T1)
– motors off (DRIVE-OFF).
Act as follows:
c. Answer “Yes”
d. The current status is Recovery Mode, the corresponding LED turns to yellow too
e. A minimal mobility is active in such a state. Switch on the motors (DRIVE ON).
g. When very close to the user calibration position, execute the following instruction:
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MOVE TO $CAL_USER
h. To recover back to the normal running mode, touch NORMAL MODE button
j. Answer “Yes”.
j.1 If no errors occur, wait for the Normal Mode to be restored: the LED associated to
the NORMAL MODE button turns to green. Go to step k.
j.2 If any erros occur, go back to step f. to improve the positioning accuracy.
k. IThe RoboSAFE status LED turns to green: the situation has been recovered and
the status is of normal running (“ready”). The displayed message states that no
actions are needed.
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b. Answer OK. Restarting the system is needed to make the request operational,
regardless whether activating or deactivating.
c. Restart the system by issuing Restart Cold command (see figure below).
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For any detailed information about Safe Motion environment, please refer to USE of
RoboSAFE manual.
5.18.2.7 Trace
This subpage allows collecting data about drives communication problems on the
POWERLINK network.
Such data are saved into files which should be sent to Comau in order to analyze the
situation.
After selecting the required data type, touch Start key to start collecting them.
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SERVICE PAGE
Before using Trace environment, please contact Comau After Sales Service for
information about optimal acquisition conditions and problem analysis.
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TIPS PAGE
The Functional keys menu provides two dedicated keys, green arrows (highlighted in
red in the previous figure), to sequentially move backwards and forwards among Tips
subpages
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LUN_TP PAGE
In the TP5 Teach Pendant, its purpose is to show any user/system messages which are
not taken into account by the alarms/actions handling system.
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ITP PAGES
They will be eliminated in the future, as soon as each existing subenvironment and/or
command will be available from TP5 Teach Pendant environments.
5.21.1.1 ARM
It includes any commands related to the Robot Arm, such as Mounting, Payload
(automatic payload identification) and StrokeEnd.
5.21.1.2 AUX_AXES
It includes any commands related to Positioners, Portals, integrated Slides, controlled
as auxiliary axes.
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ITP PAGES
5.21.1.3 FRAMES
It allows activating any programs to automatic calculate Tool, Uframe and Positioners
Base.
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QUICK PAGE
5.22.1 Overview
The QUICK Page allows accessing an environment for the use of “short commands”
created by the user.
More in details, this page allows Viewing/Creating/Modifying/Exporting such
commands.
A “short command”, from now on referred to as “macro”, includes one or more repetitive
or frequently used operations, associated to a name chosen by the user.
Press QUICK special key, belonging to the membrane keyboard, to access this page,
as shown in the below figure.
5.22.2 Viewing
The already existing macroes are displayed when accessing to the QUICK Page.
In the shown above example, two macroes are already present, referred to as Incr and
load_prg. To use them, just tap the corresponding icon.
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5.22.3 Creating/Modifying
Tap Add... key to create a new macro; a wizard is activated, in which the user must
choose whether it will include commands or PDL2 instructions.
5.22.3.1 SYS_CALL
It is to be used for macro including commands executed by means of SYS_CALL built-in
routine.
Touching Command field, the Alphanumeric keyboard is displayed. Type in the wished
command and either tap OK or press ENTER to confirm.
Tap Save key in the Wizard page, insert the name to be assigned to the newly created
macro and confirm. In the example, shown in the following figure, the chosen name is
run_a1.
5.22.3.2 PDL2
This choice is to be used for creating macroes which immediately execute PDL2
statements; thus, EXECUTE command rules have to be complied with.
Tapping Statement field, the PDL2 keyboard is displayed in order to allow the user to
insert the wished PDL2 instruction.
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QUICK PAGE
When executing a sequence of operations is needed, the user can create a routine
containing them and then create a macro, calling such a routine.
5.22.4 Exporting
In the functional keys menu a key is available represented by a USB Flash Disk: it allows
Exporting the QUICK Page existing macroes towards an external device properly
inserted into one of the system USB ports.
To activate exporting, simply touch such a key (see figure above) and select the wished
USB port.
The user is asked for confirmation before starting the export operation.
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QUICK PAGE
Answer Yes to start the export procedure. A suitable message is displayed to notify the
operation completion (see previous figures).
The name of the newly created folder onto the USB Flash Disk is MyQUICK; it includes
all currently existing macroes in the QUICK Page.
Touch the Closing current page key to close the Export environment.
5.22.5 Examples
Some sample pages follow to show the use of the QUICK Page functionalities.
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Please, refer to par. 5.16 Data Page on page 215, for further information.
The PDL2 language allows the user to create a table and add it to the TP interface in
the Data Page.
The operation to be done are as follows:
a. Table type definition: a RECORD must be defined which fields are the columns of
the table.
b. Table elements definition: the rows of the table are variables declared of the above
type, as in a. step.
Variables of the above type that do not need to be displayed in the DATA table, must be
declared with the NODATA attribute (please refer to par. VAR Statement in PDL2
Programming Language manual).
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END exampletable
– The table contents are stored in a .VAR file specified in the TABLE_ADD Built-In
Procedure, PDL2 Programming Language manual.
– The table is removed from the DATA Page issuing the TABLE_DEL Built-In
Procedure, PDL2 Programming Language manual.
In the following sections detailed information is given about:
– Properties
– Variable <type>_signal
– Variable <typename>validate_name_err
– Example program for a table creation.
5.23.1.1 Properties
It is possible to associate some properties to the whole table or to fields of it. Detailed
information is provided in the following paragraphs.
For doing it, some variables have to be defined in the program header, according to the
following syntax:
<type_name>_<operation> : when the operation is applied to the table.
<type_name>_<field_name>_<operation> : when the operation is applied to a field of
the table.
<type_name>_<field_name>_<field_of_a_position>_<operation> : when the
operation is applied to a field of a positional variable belonging to the table.
<type_name> is the table;
<field_name> is the field of the table;
<field_of_a_position> is a field of a positional variable belonging to the table;
<operation> is one of the predefined functions listed here below.
They are grouped as follows:
– Table (global) Properties
– Field Properties
– Field of a POSITION Properties.
NOTE that the Table Property Name must always be preceeded by <type_name>
(i.e. the table typename).
Example:
if the table typename is “mytable”, the “_get_active_element” property must be written
as
mytable_get_active_element
– _get_active_element
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– _get_auto_editable
– _get_can_auto_apply
– _get_editable
– _get_max_entries
– _get_msg_on_save
– _get_refresh_event
– _get_title
– _get_var_path
– _integer_get_max
– _integer_get_min
– _integer_get_step
– _real_get_max
– _real_get_min
– _real_get_step
– _get_default_name
– _get_all_variables.
_get_active_element
Name _get_active_element
Description Get the active element in the table
Data type STRING
Read upon modifying the value of the variable (it is used for monitoring a variable)
Default value none
_get_auto_editable
Name _get_auto_editable
Description Enabling flag for the table modification when the state of the Control Unit is LOCAL. It is
checked before enabling the modification of a field.
Data type BOOLEAN
Read upon table modification (of a field)
Default value modifying is not enabled in LOCAL state
_get_can_auto_apply
Name _get_can_auto_apply
Description Enabling flag for the automatic apply function, which consists in the copy of the data viewed, in
the table, directly in variables loaded in execution memory.
Data type BOOLEAN
Read upon table opening
Default value Auto apply is enabled by default
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_get_editable
Name _get_editable
Description Indicates whether that table can be edited or not
Data type BOOLEAN
Read upon table opening
Default value TRUE (by default, modification is always permitted)
_get_max_entries
Name _get_max_entries
Description Maximum number of rows in the table
Data type INTEGER
Read upon adding a new row to the table
Default value none
_get_msg_on_save
Name _get_msg_on_save
Description Generation of a message upon the event of table saving
Data type STRING
Read upon table saving
Default value none
_get_refresh_event
Name _get_refresh_event
Description Indicates the PDL2 event used to inform the DATA Page that a global property has changed.
Data type INTEGER
Read upon table opening
Default value 0 (by default, no event is provided)
_get_title
Name _get_title
Description Table name
Data type STRING
Read upon table opening
Default value table name
_get_var_path
Name _get_var_path
Description Path (directory and file name) in which saving the .VAR file containing the table data.
The ‘\‘ character used in the directory path specification must be replaced by ‘\\'
Data type STRING
Read upon table saving
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_integer_get_max
Name _integer_get_max
Description Maximum value for INTEGER fields
Data type INTEGER
Read upon table opening
Default value none
_integer_get_min
Name _integer_get_min
Description Minimum value for INTEGER fields
Data type INTEGER
Read upon table opening
Default value none
_integer_get_step
Name _integer_get_step
Description Incremental and decremental step for INTEGER fields
Data type INTEGER
Read upon table opening
Default value 1
_real_get_max
Name _real_get_max
Description Maximum value for REAL fields
Data type REAL
Read upon table opening
Default value none
_real_get_min
Name _real_get_min
Description Minimum value for REAL fields
Data type REAL
Read upon table opening
Default value none
_real_get_step
Name _real_get_step
Description Incremental and decremental step for REAL fields
Data type REAL
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_get_default_name
Name _get_default_name
Description Predefined prefix for new elements name
Data type STRING
Read upon table opening
Default value none (the new variables haven’t got a predefined prefix)
_get_all_variables
Name _get_all_variables
Description Enable reading variables from all loaded programs into memory
Data type BOOLEAN
Read upon table opening
Default value FALSE (by default, variables of the owning program only are read)
NOTE that the Field Property Name must always be preceeded by both <type_name>
and <field_name> (i.e. the table typename and name of the field which it applies to),
separated by ‘_’ character.
Example:
if the table typename is “tab”, and the field name is “curr”, the “_get_editable” field
property must be written as
tab_curr_get_editable
– _get_alignment
– _get_editable
– _get_format
– _get_item_list
– _get_item_values
– _get_max
– _get_min
– _get_msg_on_change
– _get_step
– _get_tip
– _get_title
– _get_visible.
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_get_alignment
Name _get_alignment
Description indicates the text alignment inside the columns. The following values are to be specified:
– 0 left alignment
– 1 center
– 2 right alignment.
Data type INTEGER
Read upon table opening
Default value String values are right aligned, boolean values are centered, numerical values are right aligned.
_get_editable
Name _get_editable
Description Read-only flag for the field
Data type BOOLEAN
Read upon enabling the field modification
Default value FALSE, which means that the field is enabled to the modification
_get_format
Name _get_format
Description Formatting floating point values in a field of the table. Used syntax for rounding type is ...0.01,
0.1 , 1 ,10, 100...
Data type REAL
Read upon table opening
Default value no predefined format
_get_item_list
Name _get_item_list
Description List of possibile items associated to a field of the table
Data type ARRAY OF STRING
Read upon table opening
Default value none
_get_item_values
Name _get_item_values
Description List of values related to each item listed with the _get_item_list property
Data type ARRAY OF INTEGER
Read upon table opening
Default value 0 .. [max_items-1]
_get_max
Name _get_max
Description Maximum value for the field
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_get_min
Name _get_min
Description Minimum value for the field
Data type INTEGER or REAL
Read upon selecting the field for being modified
Default value minimum limit of the PDL2 data type
_get_msg_on_change
Name _get_msg_on_change
Description Prompt a message after a field modification
Data type STRING
Read upon Apply command is issued on the field
Default value none
_get_step
Name _get_step
Description Incremental/decremental step for the field
Data type INTEGER or REAL
Read upon selecting the field for being modified
Default value 1 for INTEGERs and 0.1 for REALs
_get_tip
Name _get_tip
Description Help string assignement
Data type STRING
Read upon table opening
Default value no Help string
_get_title
Name _get_title
Description Field name
Data type STRING
Read upon table opening
Default value field name
_get_visible
Name _get_visible
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NOTE that the Positional Fields Property Name must always be preceeded by
<type_name>, <field_name> and <field_of_a_position> (i.e. the table typename, the
name of the field and the name of the positional field, which it applies to), separated by
‘_’ character.
Example:
if the table typename is “tab”, the field name is “pos1” and the field of the position is “x”,
the “_get_max” field property must be written as
tab_pos1_x_get_max
– _get_max
– _get_step
– _get_min.
_get_max
Name _get_max
Description Maximum value for a field of a POSITION
Data type INTEGER or REAL
Read upon selecting a field for being modified
Default value max limit of the PDL2 data type
_get_step
Name _get_step
Description Increment of a POSITION field
Data type INTEGER or REAL
Read upon selecting a field for being modified
Default value 1 for INTEGERs and 0.1 for REALs
_get_min
Name _get_min
Description Minimum value for a field of a POSITION
Data type INTEGER or REAL
Read upon selecting a field for being modified
Default value minimum limit of the PDL2 data type
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It is up to the PDL2 program to reset the variable (to the default value of 0) at the end of
the event service routine, otherwise a further event of the same type could be not
detected (since the value of the variable wouldn’t change!).
If such a variable is not in the table, the user interface doesn’t handle it at all.
A PDL2 sample program follows, with guide-lines for creating a complete program.
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BEGIN
-- Perform the needed check on the variable name
-- If usertable_validate_name_err variable either does not exist, or is UNINIT,
-- or is empty, the name chosen by the user is assumed as valid and a new row
-- is created in the table. Otherwise the user is warned by means of the message
-- included in the variable itself
usertable_validate_name_err := 'the variable has got a wrong name'
END usertable_validate_name
BEGIN
usertable_validate_name_err := ''
.....
TABLE_ADD('usertable', $PROG_NAME, $PROG_NAME)
END test_var
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tab1 : tab_def
tab2 : tab_def
tab3 : tab_def
tab4 : tab_def
tab5 : tab_def
tab6 : tab_def
tab7 : ARRAY[3] OF tab_def
BEGIN
-- Creates the table
TABLE_ADD('tab_def', $PROG_NAME)
tab_def_spd_get_item_list[1] := 'low'
tab_def_spd_get_item_list[2] := 'medium'
tab_def_spd_get_item_list[3] := 'high'
CYCLE
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-- Informs the TP
SIGNAL EVENT 50100 -- uses the tab_def_get_refresh_event value
-- Wait 30 seconds
DELAY 30000
-- Informs the TP
SIGNAL EVENT 50100 -- uses the tab_def_get_refresh_event value
-- Wait 30 seconds
DELAY 30000
END test_tab
Please, refer to par. 5.5.1 Display areas on page 68, for further information.
There are 6 keys on the TP that can be programmed by the user basing on the
application to be developed.
Each page of the application could need more than 6 keys; pressing MORE key (on the
right of the right menu) the remaining softkeys of the current page are displayed.
The changing from one page to another is circularly handled via the MORE key and the
swapping occurs when the last softkey of the page has been displayed.
It is possibile to disable a softkey but it is not allowed to disable a page of softkeys.
Each softkey can be in the following status:
– Enabled or disabled.
– The pressure of a disabled softkey does not have any effect. Please note that the
key aspect remains unchanged in respect to when it is enabled: the PDL2 softkey
handler program has to modify the key in terms of color, icon, text so to underline
the disabled key status.
– Pressed or Released
– When the softkey is in the pressed state, the softkey is represented like if it were
embedded.
A configuration file in XML format has to be written containing the definition of the
softkeys; this file must be stored in the following folder:
UD:\SYS\TP\CONFIG\RIGHTMENU
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Upon the Control Unit restart, all the files contained in the above directory are
automatically loaded, in alphabetical order, on the TP.
Each page corresponds to the definition of a group of softkeys, which can be more than
6. The syntax is as follows:
<?xml version="1.0"?>
<NewMenu>
<group>
<progName>GroupName</progName>
<numItems>Number</numItems>
<arName>Names</arName>
<arIconName>Icons</arIconName>
<arStatus>Colours</arStatus>
<arEnabled>Enabled</arEnabled>
<evPressed>NumberOfEvent</evPressed>
<evLongPressed> NumberOfEvent </evLongPressed>
<evReleased> NumberOfEvent </evReleased>
</group>
</NewMenu>
The words included between < > should always be present. The words specified in bold
have to be replaced by a true parameter.
Example: 2 XML files are defined. In the first file, one group with 8 softkeys is defined;
in the second one, 2 groups with 3 softkeys each are defined. TP will create the following
pages:
– One page with the first 6 softkeys of the group of the first file
– One page with the remaining 2 softkeys of the group of the first file
– One page with the 3 softkeys of the first group of the second file
– One page with the 3 softkeys of the second group of the second file.
A detailed description follows about the following topics:
– XML Tag Parameters
– Softkey Pressure and Release events
– Example of XML configuration file
– Example of right menu configuration.
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This XML parameter indicates the number of elements which should be considered
inside the array variables which contain the properties for each softkey.
The arrays could have a greater dimension but the number of elements taken into
account is the one indicated by this parameter.
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<?xml version="1.0"?>
<NewMenu>
<group>
<progName>group1</progName>
<numItems>4</numItems>
<arName>nomi</arName>
<arIconName>icone</arIconName>
<arStatus>colori</arStatus>
<arEnabled>en</arEnabled>
<evPressed>50100</evPressed>
<evLongPressed>50120</evLongPressed>
<evReleased>50130</evReleased>
</group>
<group>
<progName>group2</progName>
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<numItems>2</numItems>
<arName>nomi</arName>
<arIconName>icone</arIconName>
<arStatus>colori</arStatus>
<arEnabled>en</arEnabled>
<evPressed>50150</evPressed>
<evLongPressed>50160</evLongPressed>
<evReleased>50170</evReleased>
</group>
</NewMenu>
This example program, assigns a colour to the key which has been pressed and
disables the other softkey.
<?xml version="1.0"?>
<RightMenu>
<group>
<progName>rightmenu</progName>
<numItems>5</numItems>
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<arName>nomi</arName>
<arIconName>icone</arIconName>
<arStatus>colori</arStatus>
<arEnabled>en</arEnabled>
<evPressed>50100</evPressed>
<evLongPressed>50120</evLongPressed>
<evReleased>50130</evReleased>
<evShow>50000</evShow>
</group>
</RightMenu>
nomi[3] := 'S3'
icone[3] := 'i1'
en[3] := TRUE
colori[3] := WIN_YELLOW
nomi[4] := 'S4'
icone[4] := 'i1'
en[4] := TRUE
colori[4] := WIN_GREEN
CONDITION[1] NODISABLE :
WHEN EVENT 50100 DO
colori[1] := WIN_RED
colori[2] := WIN_GREEN
WHEN EVENT 50101 DO
colori[1] := WIN_PINK
colori[2] := WIN_RED
ENDCONDITION
ENABLE CONDITION[1]
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CYCLE
DELAY 1000
icone[2] := 'i2'
DELAY 1000
icone[2] := 'i1'
END rightmenu
<keyword>
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<text>DELAY % </text>
<param>
<text>time</text>
</param>
</keyword>
<keyword>
<import>
<progName>tt_tool</progName>
<type>
<typeName>routines</typeName>
<name>a_tool</name>
</type>
</import>
– the section between <import> and </import>, describes any information which is
needed to EXPORT the routine FROM
– <progName>tt_tool</progName> is the name of the owning program (tt_tool) the
routine is to be EXPORTED FROM
– <typeName>routines</typeName> indicates the type of the object to be
EXPORTED FROM
– <name>a_tool</name> is the routine name
– <text>A_TOOL (%) </text> states that a string will be displayed in the template,
containing the routine name (A_TOOL), with one parameter
– The section included between <param> and </param> describes the structure of
parameter:
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<keyword>
<text>AUX_COOP (%, %, %) </text>
<param>
<text>flag</text>
<context>ON</context>
<context>OFF</context>
</param>
<param>
<text>aux_joint</text>
</param>
<param>
<text>arm_num</text>
</param>
</keyword>
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UD:\SYS\TP5\PAGES
together with the corresponding icon image (if existing), having the following
characteristics:
– format - png,
– dimensions - 48x48 pixel
– image filename - <name>.xml.png , where <name> is the same name of the XML
file describing the new user page.
Please, NOTE THAT both the XML file and the associated icon png file, MUST be stored
in the same folder!
A full example of a VP2 program creating a new user page (PDL file) and an XML file to
access it, is shown below:
– VP2 program to create the SpinDial user page (SpinDial.PDL file):
BEGIN
ve_screen.x := 0
ve_screen.y := 0
ve_screen.w := -1
ve_screen.h := -1
ve_screen.name := $PROG_NAME
ve_spin.x := 50
ve_spin.y := 50
ve_spin.w := 200
ve_spin.h := 32
ve_spin.value := 42
vi_scrn_id := VP2_SCRN_CREATE(ve_screen)
VP2_ADD(ve_screen, ve_spin)
PAUSE
END SpinDial
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<prog-name>UD:\Usr\SpinDial</prog-name>
</pageID>
</config>
The words included between < > should always be present.
The content of this file, indicates that SpinDial.cod file is stored in
UD:\Usr\SpinDial folder.
– The icon image file name must be SpinDial.XML.png and it must be store in the
same folder of SpinDial.XML file.
To do so, it is needed to create a .APPL file for each application to be displayed in the
Project/Application list. Each file can include more than one “Type”, and such an
organization is useful, e.g. to handle different configurations of the same application.
The following skeleton is provided as an example:
The required information, for each “type”, is listed below:
– name and path of the .ZIP file including the being installed files
– name of the being executed .COD program within the .ZIP file. After extracting all
files from .ZIP file, the TP runs such a program which will copy/install the files in the
suitable directories
– Synchronization variables with the TP. Such variables must be declared and
handled by the .COD program in order to indicate both the operation status in the
User Interface (e.g. operation in progress, operation completed, etc.) and any error
message.
The following skeleton is provided as an example:
<?xml version="V1.0"?>
<proj>
<type>
<name>”TYPE NAME”</name>
<appl>
<file> “NAME AND PATH OF THE .ZIP SOURCE FILE”</file>
<help>
<it>”ITALIAN DESCRIPTION or HELP”</it>
<en>”ENGLISH DESCRIPTION or HELP”</en>
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</help>
<progr-name>”NAME OF THE BEING RUN PROGRAM(CONTAINED IN.ZIP)”</progr-name>
<var-result>”NAME OF THE RETURNED RESULT VARIABLE”</var-result>
<var-message>”NAME OF THE MESSAGE VARIABLE FOR THE USER”</var-message>
<new-zip>”NAME OF THE BEING USED DESTINATION .ZIP FILE“</new-zip>
</appl>
</type>
<type>
.... further types
</type>
</proj>
The words included between ‘< >’ should always be present.
Both the .APPL files and the corresponding .ZIP ones, must be created in the root
directory of the device that will be specified in the Install SETUP subpage, during the
installation operation. In this way, all related Projects/Applications are listed in the menu
and the user is able to ask for them to be installed.
In the Home Page there are three available empty areas (tiles), to be customized by the
user. They can be used for
– monitoring a system variable
– monitoring a program variable
– associating an ation to be performed upon touching the tile
– being notified as soon as the monitored variable value changes.
An example of user tiles (the upper one for monitoring a system variablbe, the lower one
for monitoring a program variable) is shown in the following figure.
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To create a user TILE, it is needed to create an XML file, including the required
information; such an XML file must be stored in the following folder
UD:\SYS\TP5\TILES
and must have one of the following names:
– tile1.xml for the left upper tile
– tile2.xml for the right upper tile
– tile3.xml for the lower tile.
Furthermore, an icon can be associated to the tile, whose image must have the following
characteristics:
– format - png,
– dimensions - 48x48 pixel
– image filename - defined in the XML file, <icon> section.
<?xml version="1.0"?>
<tile>
<icon>
Path (on C5G) and name of the icon image, PNG format
</icon>
<page>
The following information can be specified:
1. path of the being run xml
2. user VP2 page (if existing) ID
</page>
<watch>
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</watch>
</tile>
Example
An example of XML file is provided, for creating a tile monitoring the content of
$SYS_STATE system variable. Left upper tile. The file name is tile1.xml. Its content is:
<?xml version="1.0"?>
<xmlroot>
<tile>
<title>$SYS_STATE</title>
<icon>UD:\USR\TILES\ICO.PNG</icon>
<page>UD:\SYS\TP5\PAGES\PageMotion.xml</page>
<watch>
<sysvar>$SYS_STATE</sysvar>
</watch>
</tile>
</xmlroot>
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6. SYSTEM COMMANDS
6.1 Introduction
This chapter describes the system commands available for the C5G Control Unit. The
commands described can be entered from the following interfaces:
– PDL2 program - using the pre-defined SYS_CALL routine
– From PC - WinC5G program, Terminal window menu
The items of the commands are shown here in the most extended form, as they are seen
on the WinC5G screen page.
Fig. 6.1, shows the WinC5G Terminal windows.
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– Command selection
– Call-up of recently used parameters (History)
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For further details about SYS_CALL syntax, see PDL2 Programming Language
manual.
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command are redirected and, if the command is a viewing one, any data that would have
been displayed too. If the specified file already exists, the information is added, NOT
overwritten.
When the information called by a certain command occupies more than one page, the
display is held at the end of page until the user presses any key to show the next page
of information. From WinC5G the lines can be scrolled one at a time by pressing the
space bar of the PC keyboard.
Commands that show more than one page of information have the /NOPAGE option
used to scroll all the information without pauses.
6.8 Directories
Directories (up to 8 depth levels) are managed on C5G Control Unit. The directory
specification and the associated device follow the MS-DOS syntax:
<name of device>:\<directory>
For example:
UD:\directory\filename
The directory and the default device used by the commands are set in a field of
$DFT_DV variable.
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The following table lists all the available commands, in alphabetical order. The string of
characters that, in most cases, is shown in brackets, is the code of the first parameter
to be used when the corresponding command is to be sent from SYS_CALL. If the code
is not displayed, the command cannot be called from SYS_CALL.
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MEMORY DEBUG
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file and the NVRAM memory. This command creates a .COD file
with the same name as the calibration file
(<$SYS_ID>_CAL<num_arm>.PDL) and executes it.
/Motors - the calibration data are loaded from each individual
motor flash.
/Nofile disables the automatic saving of calibration and
configuration files
Syntax: CARL <arm_num>
CARL/L <arm_num>
CARL/M <num_arm>
CARL/N <arm_num>
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Note that, at the end of the Restart operation, the current directory is
UD:\USER
For full details about the software reload complete procedure, please refer to
Chap. Setup page on page 229 - par. 5.17.3.11 Reload-Sw on page 284.
Before issuing this command, be sure that all needed settings have been performed in
WinC5G Properties Window, shown in the following picture (highlighted in red):
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They are:
– File Transfer Folder (it is the directory including the Software version)
– FTP Server
• always enabled
• from this C5G only
Furthermore, an FTP User must have been configured (Users... key in the FTP section
- see Fig. 6.2 highlighted in green; needed information: User name and Home Directory,
i.e. the File Transfer Folder specified in the Properties Window in Fig. 6.2).
The User will be asked for the User name (in our example it is ‘u9’ - see Fig. 6.3,
highlighted in purple) during CCRU command execution.
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Configuration file and User Data Base file that may be the default ones,
<$SYS_ID>.C5G and <$SYS_ID>.UDB, or any other files specified in the associated
parameter.
If no parameter is specified, the values will be read from the <$SYS_ID>.C5G and
<$SYS_ID>.UDB files and assigned to the predefined variables in memory.
The system is to be in PROGR state with drives off. The user profile can only be
Maintenance and Service.
From SYS_CALL, 'CL' parameter, previously corresponding to ConfigureLoad, is
interpreted as 'CLA' (to maintain the compatibility with the old PDL2 programs written on
former Control Units).
Options: /Rules - $CRC_RULES, PDL2 Programming Language
manual, chap. Predefined Variables List -
Syntax: CLA <file_name>
CLA/R <file_name> <rules>
MINOR CATEGORY
Besides the Load Category, available as COMMAND, there is a Minor Category,
available as OPTION for each of the predefined variables.
In the following paragraphs, for each ConfigureLoadCategory and
ConfigureSaveCategory command, the Minor Categories provided are listed.
For further information, and above all, to know whether a certain variable will be loaded
or saved sending a ConfigureLoadCategory or ConfigureSaveCategory command, see
the PDL2 Programming Language manual, chapter Predefined Variables List, item
Minor Category (sub-category of Load Category) in the table related to the involved
variable.
For example:
$SENSOR_ENBL belongs to Arm Load Category and to Sensor Minor Category.
Therefore reference will be made to ConfigureSaveCategoryArm and
ConfigureSaveCategoryArm/Sensor commands (or ConfigureLoadCategoryArm and
ConfigureLoadCategoryArm/Sensor).
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/Hand
/Rules - $CRC_RULES, PDL2 Programming Language
manual, chap. Predefined Variables List -
Syntax: CSCI <file_name>
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DIA 1- 2 - 4..7
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descriptions to the Output points, use the IO_MAP Program - I/O ports mapping,
par. 11.4.2.1.1 Map or Modify - I/O points on page 472. The System Outputs HELP
strings are always present.
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For a complete list of the expected system software extensions, see par. 6.10 Available
Files Types in the System on page 420.
Some commands are only operational with a special extension. For details, see the
individual commands.
NOTE
In the UD root directory : there is a limitation to the maximum number of entries (512).
A file name longer than 8 characters occupies more than one entry in the FAT (File
Allocation Table).
The problem does NOT exist in subdirectories, where the maximum entry limit is higher
(more than 65000).
If the root directory is too much occupied, it is advised to use file names with a maximum
of 8 characters, or to work in subdirectory.
Furthermore, it is advised to periodically delete the .BK* files in a permanent manner.
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See NOTE about the total amount of entries in the UD: root directory.
It is advised to use FILER UTILITY BACKUP and FILER UTILITY RESTORE (instead
of FILER COPY) if all the files from/to the default backup device ($DFT_DV[3], usually
XD: or COMP:) are to be copied.
Options: /Confirm requires confirmation before copying each file.
/Overwrite rewrites the existing files without displaying the
confirmation prompt.
Syntax: FC <source_file> <dest_file>
See NOTE about the total amount of entries in the UD: root directory.
A parameter is required for the filename. The wildcard cannot be used. Only the user
disk UD: can be used as device. If no extension is specified, the extension .PDL is used.
This command cannot be used if any other type of Editor is active and it is not allowed
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from SYS_CALL.
Syntax: FE <file_name>
See NOTE about the total amount of entries in the UD: root directory.
The ASCII file can then be edited to correct the instructions and corrupted identifiers that
are distinguished by three question-marks (“???”). At the end, use FILER TRANSLATE
to convert the file again to a file with .COD extension.
Further information can be printed, using /Property option. Standard attributes
(Property) associated to the files are the following:
– file name
– author
– file creation date
– version
– revision
– host where file was created
– title
– help.
Options: /Full prints a variables file without shortening the names of the
identifiers contained (variables, programs, routines and data
classes).
/List generates a listing file (.LIS) from a .COD or .BKC file. The
listing file gives the name of the program and the line number at
the side of each PDL2 instruction.
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See NOTE about the total amount of entries in the UD: root directory.
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If indications or errors are found during the translation, these are displayed in the
scrolling window and recorded to <file_name>.ERR file.
Options: /Back converts a .COD file to a .PDL file.It is the same as the
Filer Print command of a .COD file to a .PDL.
/Confirm asks the user for confirmation before the conversion of
each file.
/List generates a listing file (.LIS) including line number, etc, and
can only be used with /Back option.
/Output redirects the file on another directory.
/Variables converts a variables .LSV ASCII file in a .VAR file.
When used with the /Back option, it converts a .VAR variables file
to the corresponding .LSV with ASCII format.
/Xml
Syntax: FT <file_name>
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FUAS/R <file_name>
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The backup can be sent to a USB flash disk (XD: or TX:), including subdirectories,
COMP: (device WinC5G), NETx: (device client FTP), TD: .
At each backup (e.g. FUB/T * NET8), a <$SYS_ID>.LST file is created on the specified
device, in the specified base directory, containing the information related to the backup
operation.
Information regarding several backups is inserted at the bottom of the file. At each
backup operation, these files are updated.
Example:
##################################################
# Backup created 15-MAY-15 16:17:00
# Backup appended 15-MAY-15 16:44:40
# Backup appended 15-MAY-15 16:48:57
# Backup appended 15-MAY-15 16:49:55
UD:\box.pdl@12-04-15 11:24:08
UD:\brac_7ax1.cod@14-03-15 14:32:48
UD:\brac_7ax1.pdl@14-03-15 14:32:44
UD:\brev_002_r2.cod@13-11-14 10:18:16
UD:\brev_002_r2.lsv@19-11-14 13:34:44
UD:\brev_002_r2.pdl@12-11-14 18:54:44
UD:\brev_002_r2.var@16-11-14 11:30:20
To be able to use these functions, there are some options described in the following
sections (see par. 6.9.4.8.1 FILER UTILITY BACKUP (FUB) on page 389 and
par. 6.9.4.8.2 FILER UTILITY RESTORE (FUR) on page 390):
– For Backup operation - /Saveset, /After, /Increment, /To
– For Restore operation - /Saveset, /After, /From, /Newer, /Overwrite.
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As already said describing the /Saveset option, it is possible to specify a Saveset name
instead of a filename (in such a case, when issuing the command, the /Saveset option
must be inserted).
The specified Saveset must have already been created in the corresponding Backup
subpage of Setup page.
In this way, using a single command it is possible to execute the backup of files from
different devices or directories, files with a certain name, include the subdirectories,
exclude some files, etc.
See NOTE regarding the total amount of entries in the UD: root directory.
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Options: /After copies files that are more recent than a certain date. It is
useful to restore files from a certain date, for example, today.
To specify date or count of days a sign can be indicated that has
the meaning of "before" (‘-’) or "after" the indicated date or count
of days.
Examples:
0 means files as from today
-1 means all files before 00 of today;
-18-06-08 means files before 18/06/08;
18-06-08 means files OF THAT DATE and AFTER IT.
/Configure allows to recover the old configuration file that, after
being copied with .C5G extension, is loaded on the Control Unit.
This is followed by ConfigureSaveAll operation.
/From copies files that are not on the default device
($DFT_DV[3]). It is possible to specify the source directory on
this device.
/Newer executes the restore of files that are more recent than the
ones already existing in the destination.
/Overwrite overwrites also read-only files.
/Saveset to specify a predefined Saveset that indicates where
the files are to be taken from to be copied.
The Saveset must have already been created.
For example, if it is required to use a Saveset referred to as
‘set1|UD:\dir1\*.*’, parameter ‘set1’ must be specified when
issuing the Restore command. In that way, any files included in
UD:\dir1 and corresponding subdirectories, will be restored.
Syntax: FUR <file_name>
FUR/S <saveset_name>
Examples: FUR executes restore of all files, from backup, and leaves the
archive bit not set
FUR *.cod executes restore of all files with extension .cod
FUR/A-1 executes restore of new files, up to yesterday
FUR/F executes restore from a different device
FUR/N executes restore of new files (‘new’ is referred to the
previous backup)
FUR/S executes restore, including subdirectories
FUR/S all executes restore of ALL Savesets
Please note that after a Restore operation, the files attributes are no longer read-only.
Even if no files are restored, no error messages are displayed.
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In this way, using a single command it is possible to restore files with a certain name to
different devices and/or directories, include the subdirectories, exclude some files, etc.
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If IDE page is open (even if without a displayed program) on the Teach Pendant, close
it in order to make this command operational.
The DEBUG command calls the editor in view and debug program mode; the program
must have previously been loaded to the execution memory.
This function allows the programmer to carry out the following operations:
– change the currently being run statement
– change positional variables
– display program execution
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If the program has been loaded with the /FULL option, the text can also be changed.
Programs loaded with the /PERMANENT option, only available from SYS_CALL, cannot
be used in MEMORY DEBUG command.
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while loading.
A program cannot be loaded when it is in ready, paused or running condition.
If a program cannot be loaded due to damage to data contained in the .COD file, recover
a backup copy of the same file (.BKC) or translate the program into ASCII format using
the FILER TRANSLATE command. Next, edit the obtained ASCII file and fix the
damaged instructions and identifiers, that are distinguished by three question marks
("???"). Once the corrections have been made, translate the file to .COD using FILER
TRANSLATE command.
Options: /As to load programs with a different data file (.VAR), specified as
a parameter. Asterisks cannot be used with this option.
/Convert converts, where possible, conflicts between data file
and the program
/Depend automatically loads the code and the variables of the
programs referred in the program code specified as parameter to
MEMORY LOAD. If the referred files are in different directories
the predefined variable $DEPEND_DIRS has to be set, that
contains the path that the Load command will use in the search.
/Full loads the entire program with the related comments, wrong
statements and empty lines. This option is useful for no motion
programs. All other kind of programs are already entirely loaded.
/Nosavevars disables the saving of the variables (or VAR) when
MEMORY SAVE is executed on this program. This option is only
available if used together with the internal SYS_CALL routine.
/Permanent loads the program code in the memory in permanent
mode, not permitting deletion. The code uses less memory
because of the optimizing of the loading process. To recover the
memory, the Control Unit has to be restarted. This option is only
available if used together with the internal SYS_CALL routine.
/Variables only loads the specified program variables file.
/Xml
Syntax: ML <program_name>
ML/A <data-file program_name>
ML/F <program_name>
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MemoryViewProgram (MVP) command is useful to check which file and directory have
been used to load a specified program code and variables.
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If it is not possible to load the program due to damage to the data contained in the file,
recover a backup copy of the same file or convert it to an ASCII file using FILER PRINT
command.
The EDIT command cannot be used when the system is in FATAL state; the same
applies when FILER EDIT, MEMORY DEBUG or PROGRAM EDIT (DATA or CODE
mode) commands are active or when IDE environment is enabled.
If the IDE page is open (even without a displayed program) on the Teach Pendant, close
it in order to make EDIT command operational.
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If it is not possible to load the program due to damage to the data contained in the file,
recover a backup copy of the same file or convert it to an ASCII file using the FILER
PRINT (FP) command. For further information about this procedure see FILER PRINT
(FP) command.
The following options, except for /Update and /Argument, can be used to activate the
program with a step that is not the default step. See PROGRAM TEST STEP command.
UPDATE option disables prompting to the user, when the being activated program is
already loaded and/or active in memory and in the user disk there is a more recent
version.
The ARGUMENT option is used to specify a parameter to be passed to the program,
when it is activated. This parameter is automatically saved in $PROG_ARG predefined
variable, and can be used within the program, when needed.
Options: /Argument - to pass a parameter to a program when it is
activated
/Cycle
/Disable
/Fly
/Move
/Routine
/Statement
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program to ready. To resume it, press RUN. For holdable programs pressing START
button is also needed.
The BREAK commands can be used for any loaded programs, including currently active
programs. Break points are automatically numbered by the system.
Both /LABEL and /ROUTINE options are to be used to specify a label inside a routine.
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The parameter speficies the wished language (the languages list is automatically
opened) and must be chosen among the following:
– cs - Czech language
– de - German language
– es - Spanish language
– en - English language
– fr - French language
– it - Italian language
– pl - Polish language
– pt - Portuguese language (for Portugal)
– tr - Turkish language
– zh - Chinese language
– en.us - English language (for U.S.A.)
– pt.br - Portuguese language (for Brazil).
NOTE - Compatibility in the file format is not guaranteed, between different versions of
the system software.
Syntax: SCV
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As far as the Logout, a function is also available called "Automatic Logout". For further
details see par. 4.3.1 Automatic Timed Logout on page 42.
Syntax: SL <username><password>
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– F: FALSE (OFF)
– C: the output will be forced to its current physical state.
Select the wished value and press ENTER.
A digital output belonging to an output group, must be forced as group and not as
individual digital output.
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– Ahd Size: (size of readahead buffer) 0 .. 4096 with steps of 128 (e.g: 0-128-256-...).
Only existing when the buffer is present.
– Protocol: none, XON/XOFF
– Character management: none, ASCII, passall, ASCII + passall.
The command displays a window containing the current settings. The right and left arrow
keys can be used to select the different characteristics. Press ENTER key, or right/left
keys to continue with the subsequent characteristic. With up and down keys, values can
be selected for the current characteristic. After setting the required values for the
selected characteristics, press PREV/TOP.
CTRL C (^C) key interrupts the UtilityCommunicnPort_char command. If changes have
been made, the user is asked whether parameters are to be saved.
This command is not allowed from SYS_CALL.
Syntax: UCP <port_name>
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Options: /Nopage
/Output
/Reverse displays in reverse sequence
Syntax: ULA <num_actions>
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Backup
extension
Extension Description
(where
applicable)
.LBC Binary file containing the list of files logs executed on the Control Unit not expected
PDL2 program code, in binary format. It can be edited in IDE environments,
.COD .BKC
Program Edit, Memory Debug
.LBH Binary file containing the errors and actions history, detected on Control Unit not expected
.LOG FileLOG file, for example ACTION.LOG and ERROR.LOG .BKG
.LSV ASCII version of .VAR file .BKL
eXtensible Markup Language type file, used to define additional syntaxes on
.XML .BKM
Control Unit
.PDL ASCII version of a PDL2 program .BKP
.UDB User Data Base type file that contains all permitted User Profiles .BKU
.VAR Binary file containing variables of a program .BKV
.VPS Source file for VP2.Builder .BKW
.LVP ASCII version of VP2 file .BKX
.ZIP Compressed file not expected
Binary file containing system configuration. It can be loaded or saved in the
system memory using Configure, from Setup page (and the corresponding
.C5G .BK5
ConfigureLoad and ConfigureSave commands from WinC5G; for further
information, see CONFIGURE branch, Load menu and Save menu).
.CIO Binary file including the I/Os tree .BKO
.LIO ASCII of .CIO file .BKI
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7.1 Foreword
This chapter contains information concerning the WinC5G program representing the
interface on Personal Computer, to C5G Control Unit.
In detail, it describes:
– Overview
– WinC5G Activation
– Connection to the Control Unit
– User interface
– WinC5G operating parameters set-up
– Commands Menu
– Most common problems
7.2 Overview
The WinC5G program is a Windows style interface on PC to C5G Control Unit. It
contains several functions:
– display of files installed on the robot;
– possibility to edit and translate them in executable form (.COD);
– errors search and display;
– possibility to open a Terminal window to directly forward commands onto the
Control Unit;
– conversion of already existing programs as a function to new reference points.
WinC5G is contained in the system software CD-ROM. It can run on Microsoft®
Windows® desktop operating systems, supported by Microsoft® and its installation does
not need any administrator priviledges.
It is to be installed on the PC invoking setup.exe program that is in the directory of such
a program.
There are two types of licences for the WinC5G program:
– basic licence
– full licence:
also enables the handling operations on files (mirror and linear/rotational shift
functions, verification of axes, tool and frame updating), that can be selected from
the Handling menu, access from Remote by Proxy.
To pass from a basic licence to a complete licence, follow the steps contained in the
paragraph How to obtain a new licence for WinC5G.
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WinC5G can also be started from the commands prompt. Choose the directory that contains WinC5G program
and enter “WinC5G” characters. The program will start the application using the default Properties file (.WCI).
To start the application using a specific .wci file, add the access path (associated or complete) to the .wci file
(for example “WinC5G c:\line\model1”)
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Start the WinC5G program (par. 7.3 WinC5G Activation on page 422) and open the
Properties window to set the field related to the type of connection (see Fig. 7.2):
b. in the address field specify that of the Control Unit for the connection. If this
address is not known, read the IP address from the Home Page of the Teach
Pendant.
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Note that in the configuration of Fig. 7.4, the Internet infrastructure is not aware of the
sub-network existing between Local PC and Control Unit (192.168.29.2), therefore the
Remote PC is not able to send/receive packages on address 192.168.29.1.
For this reason a direct connection is necessary between Remote PC and Local PC.
This direct connection can be obtained connecting the two PCs via Virtual Private
Network (VPN=Virtual Private Network).
With VPN, the Remote PC and Local PC are connected as if on the same network
(hence the term VPN).
The above description is illustrated in Fig. 7.5:
Note that now Local PC and Remote PC have addresses on the same sub-network.
To complete the installation, the Remote PC has to "know" how to reach the Control Unit
and vice-versa. This is feasible by just executing a direct "route add" on the two
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machines.
On Remote PC: "routeAdd 192.168.29.2 90.1.1.2"
On Control Unit: DV_CNTRL #5 equivalent to "routeAdd 90.1.1.1 192.168.29.1
Note: during the description of the procedures that follow, it is assumed that the PC has
Windows XP operating system installed and that the user has Administrator privileges.
e. In the next dialogue window, select “Set up an advanced connection” and press
“Next” (see Fig. 7.7)
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f. In the new dialogue window select “Accept incoming connections” and press “Next”
(see Fig. 7.8).
g. In the next window, deselect all items present on the screen page and press “Next”.
h. In the next window select item “Allow virtual private connections” and press “Next”
(see Fig. 7.9).
i. In the next window, select (and/or if necessary add) Windows users who have
permission to connect to the machine using VPN. This login information must also
be known to the Local PC users, when wishing to connect. Press “Next”.
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j. In the next dialogue window, select “Internet Protocol (TCP/IP)” and click on
“Properties”;
k. on the screen page of Fig. 7.11, select items “Allow callers to access my local area
network” and “Specify TCP/IP addresses”
l. Deselect item “Allow callers to access my local area network” and insert a range of
TCP/IP addresses that are not in conflict with its own IP address. Press "OK" then
press “Next”.
m. On the next screen page (see Fig. 7.12) press “Finish” to complete the
configuration.
Note: only one server instance at a time can be active on the machine.
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IP forwarding enable
WARNING! wrong use of the system register editor can cause serious problems that could require
reinstallation of the operating system. The use of the system register editor is at the risk and peril of
the user.
e. In the next dialogue window, select “Connect to the network at my workplace” and
press “Next” (see Fig. 7.13)
f. In the new dialogue window select “Virtual Private Network connection” and press
“Next” (see Fig. 7.14).
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g. The next window asks for the Connection Name: type in a name at will and press
“Next”.
h. The next window asks for the internet or intranet address of the VPN server for the
connection. Insert this information and press “Next” (see Fig. 7.16).
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i. In the next screen page select the required item, according to whether the
connection may be used by all or has been created for user personal use only.
Press “Next”.
j. On the next screen page (see Fig. 7.17) press “Finish” to complete the
configuration.
The connection is ready to be activated. When connected (see par. 7.4.3.3 Connection
procedure on page 432), the system displays the following screen page (Fig. 7.18):
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c. When the Local PC is connected, add a route to the Control Unit, via VPN server,
with the command DOS "route add 192.168.29.2 90.1.1.2".
d. Insert the Control Unit IP address (in this example 192.168.29.2), Username and
Password.
Connection should be active. WinC5G, Ping, FTP can be used for local connection.
b. connect Local PC to Control Unit. In our example we suppose that the Control Unit
IP address is 192.168.29.2 and the Local PC IP address is 192.168.29.1.
c. A route to the Remote PC has to be added on the Control Unit. In our example the
command will be: DV_CNTRL(5, '90.1.1.1', '192.168.29.1').
d. Connect to Internet
e. ask Remote PC manager for IP address of the PC address on Internet and launch
client VPN
f. give the Remote PC manager the Control Unit IP address (in our example
192.168.29.2), Username, and Password.
After connection, delete the route previously added using command DV_CNTRL(6,
'90.1.1.1', '192.168.29.1').
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• user's name
• basic directory
this is the home directory when the customer connects to the server
• password
• NET_C - For backup and restore functionalities, with WinC5G that acts as
server for the Control Unit, the NETx: devices (with 'x' from 1 to 9) have to be
correctly configured. This means that for each NETx: device which is
supposed to be used, it is necessary to define a user's name and a password
(associated to the FTP server that requires the operation) and the basic
directory to be used for the backup/restore operation. Obviously, when the
backup/restore operation is requested, the specified user has to be already
defined and has already accessed the Control Unit (login). If NET_C
checkbox is selected for a certain user, such an FTP server on the PC is
authorized to communicate with the C5G.
The first two users are predefined and for them only the home directory can be set.
The FTP server enables/disables when Apply is pressed in the Properties Window.
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WinC5G Proxy mode can be selected providing no other terminal connection is active.
It is configured by the "Remote Access" command from the Tools menu (or through the
corresponding key on the Toolbar). The following dialogue window is shown:
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NOTE
Local PC is to be connected and communicating with Control Unit, when connection with
Remote PC is requested.
Upon termination of connection, the route add, on Remote PC and on Control Unit, is
removed. Moreover, on Local PC, the FTP server is to be active, with checkbox “Allow
Proxy Auto Config” selected (see Fig. 7.20).
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When the terminal connection is activated, the Remote WinC5G is connected to the
Proxy WinC5G.
The "Chat message" area displays the messages sent by the two users. Each line
indicates the time and the sender of the messages.
The "Input text" area is used to type the message to be sent.
The "Invia" key is used to send the message written in the "Input text" area. The
message can also be sent by pressing ENTER on the keyboard.
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In order to keep the connection after a Control Unit restart, $DFT_DV[8] variable must
be set to the communication logical port which is connected to the serial line.
For further information, please refer to PDL2 Programming Language manual -
chap.Predefined Variables List.
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1. Directories Panel
2. Files Panel
3. Tools panel
4. Output Panel
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This viewing also works on a multiple selection of files as shown in the following figure.
If a binary file is opened (.COD, .VAR or .C5G), this is converted to ASCII, a format that
can be read by the user. If errors are found during the translation, these are displayed
to the user and the operation is interrupted. In such cases it is best to check that the file
is not corrupt, and that it has been generated using a translator software version that is
compatible with that used by the application (i.e. lower or same version).
The .C5G files can be displayed, edited but not reconverted to binary format (.C5G).
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The files can be translated from Binary to ASCII, selecting the required .COD file and
entering the Translate command from Edit menu. In this way a .PDL file is created that
the user can open in the Translations Window. With the same command (Translate from
the Edit menu) it is possible to ask for the translation from ASCII to binary: in this way
the system creates a new .COD file and saves the previous version in a .BKC file.
See NOTE regarding the total amount of entries in the UD: root directory.
7.5.1.3 Cause/Remedy
The Cause/Remedy Window (Fig. 7.27 - Cause/Remedy Window on page 443) is used
to find information on the cause of a certain error and how to solve the problem.
The user has to specify the number of the error and enter Find command.
The application looks for the error in file with the extension .CRD indicated in the
Properties Window at the Select .CRD key. The files containing all the errors and their
causes and solutions are divided by language and are called:
– allrobmsgd.crd - German
– allrobmsge.crd - English
– allrobmsgf.crd - French
– allrobmsgi.crd - Italian
– allrobmsgp.crd - Portuguese
– allrobmsgs.crd - Spanish
The ones for applications can be added to them, if and when they are distributed.
– aw_ms.crd - arc welding
– cl_ms.crd - common libraries
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– gl_ms.crd - glue
– hn_ms.crd - handling
– st_ms.crd - stud
– sw_ms.crd - spot welding
– tc_ms.crd - tool change.
To these, those of the applications can be added if they are distributed. Through this
dialogue box a .CRD file can be added or removed (for example one that is connected
to a specific application) to the error list. The maximum number of CRD files that can be
selected is 10.
The user can customize the comments associated to a certain error through the Add
Comment key on the Cause/Remedy page. A dialogue box is opened to enter a text that
will be displayed with that error.
This text will be saved in the specified .ZIP file that has been entered in the Properties
Window, in the User Texts Archive box.
The display of the User Text can be enabled or disabled through the checkbox.
From WinC5G all C5G errors contained in the selected ROB*.CRD file can be saved in
a file or printed as a list .This operation requires a few minutes.
The related commands are ‘File Print All’ and ‘File Save All as’.
It is absolutely needed that such commands are issued when the Cause/Remedy page
is active in the Properties Window.
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Please, note that, in case of errors identified by SYSTEM ERROR attribute, neither
causes nor remedies are displayed, since they are internal errors.
In such situation, please contact COMAU Technical Service.
The Manipulation menu contains features that check and convert the values stored in
a .VAR file.
The functions are:
– check that the positional values stored in a .VAR are included in the range of the
stroke end limits (Axis check).
– modification to positional values stored in a .VAR, based on new values of $TOOL
and $UFRAME predefined variables (Tool and Frame update)
– linear shift of positional values stored in a .VAR. (Linear Shift).
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– linear shift and shift in the orientation of positional values stored in a .VAR (Linear
Rotation).
– mirror referred to a plane (Mirror).
– modification to positional values stored in a .VAR basing on changes to calibration
data (Calibration).
– modification to positional values stored in a .VAR after modifications to the robot
kinematics (Sysdata adjust).
– modification of positional values stored in a .VAR after a wrong Turn Set operation
(Turn difference).
In the Manipulation menu the ‘Settings’ page allows to define the properties which are
common to the pages shown in the Manipulation menu (see Fig. 7.38 - File Manipulation
settings on page 454).
The parameters which the user must insert before executing one of the listed above
functions are grouped in different areas (as an example, see Fig. 7.29):
– Original files area: the user must select (via the PC or Rob text box), either on the
PC or on UD: Control Unit device, the files that are needed as input to the execution
of the selected function. The files must be binary and not ASCII because the
manipulation functions do not work on ASCII format. The files of interest are: the
configuration file (.C5G), the (.VAR) file containing the values of the Tools and the
Frames, the user program files (.COD and .VAR).
– Output files area: the user must select the name of the .VAR file to create as result
of the operation.
– New files area: the user must specify if needed, the new files to use in the operation
as an alternative to the files specified in the Original files area. This window is only
active for the ‘Tool and Frame update’, ‘Calibration’, ‘Sysdata adjust’ pages.
– an instruction of the following type
MOVE TO p1
preceded by
ToolFrame(1,1)
is only handled if the “Modal” flag is selected.
– Data related to the Base: the user must specify in these text boxes the values
which define the cartesian coordinates of the position to be used as $BASE if the
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conversion must consider a $BASE that is different from the one defined in the
.C5G configuration file.
It is possibile to perform the conversion operation considering the whole .COD file or a
section of it; in this case the starting (Lines from: ) and ending (to: ) lines must be
specified. Otherwise the whole file will be computed.
WARNING!
– the application will not perform the operation until all requested parameters are
specified.
– Settings for specific operations can be saved in a file and used again for later
commands. This avoids the need to enter the parameters each time the operation
is repeated.
– Use Import button to choose a .WCF file already present; the path will be asked
for to take the file.
– Use Export button to save a file with the required settings in a certain directory. A
file will be created with the .WCF extension.
For all the functions of the Manipulation menu, input parameters to be ALWAYS
specified are:
– System file: name of the .C5G file.
– Tool file: name of the .VAR file containing the tool values used by the program (for
example UD:\DATA\TT_TOOL.VAR).
– Frame file: name of the .VAR file containing the frame values used by the program
(for example UD:\DATA\TU_FRAME.VAR).
– Variable file: name of the .VAR file of the user program to be converted.
– Program file: name of the .COD file of the user program to be converted.
Other parameters could be needed depending on the operation to be performed.
Here below the features belonging to the Manipulation menu are described in further
details:
– Axis check
– Tool and Frame update
– Linear Shift
– Linear Rotation
– Mirror
– Calibration
– Sysdata adjust
– Turn difference
– Dialogue box for File Manipulation settings.
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– Range from .. to: contains the real values (degrees/axis) defining the limits, for the
specified axis, which should not be overcome in the positional variables of the
program. For example from 0.0 to 30.0 for axis 1.
In case some limits are overcome, in formational messages are displayed in the output
window of WinC5G.
– New files: name of the files containing the new values of the tool and the frame to
be used in the conversion of the user program. Both parameters must be specified;
if the conversion only concernes the tool, the frame file specification must be the
same inputted in the Originale Files area (and viceversa).
– Output file: the user must define the name of the .VAR file to create, containing the
positional data modified basing on new tool and frame values.
P1 - start position
Q1 - end position
– Start and end positions: the user must specify the X,Y,Z coordinates of the two
points which define the distance to use in the translation.
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– Output file: the user must define the name of the .VAR file to create after the
conversion applied by the translation.
P1 - start position
Q1 - end position
– Start and end positions: the user must provide three starting positions and three
ending positions which define 2 planes. A linear translation from the first final
position is performed first; then the orientation relative to the final plane is
considered.
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Comau Robotics Product Instruction
– Output file: the user must define the name of the .VAR file to create, containing the
positional data modified accordingly to the roto-transation defined by the shift
operation.
7.5.1.5.5 Mirror
Mirror functions are similar to the Shift operations, but include a simmetric
transformation related to a plane called the Mirror Plane.
The mirrored trajectory can be obtained for either a robot working on two different sides
of an object (see Fig. 7.33 - Case A - Single Robot working on one part on page 449),
or a second robot working on the other side of an object which is common to both the
robots (see Fig. 7.34 - Case B - Two mirrored Robots working on the same part on
page 450).
In some specific situations it is also allowed to individually select the reference frames
(see Fig. 4.1 in Motion Programming manual) which are involved in the mirroring
operation.
In such a case, the mirrored trajectory refers to the same $BASE, $UFRAME and
$TOOL.
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Fig. 7.34 - Case B - Two mirrored Robots working on the same part
In the shown above situation, $BASE and $UFRAME are mirrored with respect to the
specified mirror plane; whereas $TOOL is mirrored with respect to the Robot flange XZ
plane.
The editable fields, in the Files Manipulation Window (see Fig. 7.29), are as follows:
– Orientation
this box must be checked when the orientation has to be considered during the
symmetric transformation. Otherwise the transformation will only be related to X,
Y, Z values.
– Mirror Plane
The mirror plane is defined related to the World Frame (as an example, the World
Frame is shown in Fig. 7.34 referred to as 6 - common WORLD).
• If mirroring is required with respect to the World Frame, all the coordinates
fields values (see Fig. 7.32) must be 0.
• If mirroring is required with respect to the robot symmetry axis, the Mirror
Plane must coincide with the currently set Base in the Mirror page (the Base
and Mirror plane fields must have the same values).
• If mirroring is required with respect to the Uframe, the Mirror Plane must
coincide with the currently active Uframe definition in the Program (it is
included in the Frame File and specified in the Program File (.cod)).
– Mirror Base, Mirror UFrame and Mirror Tool
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Comau Robotics Product Instruction
• Mirror Base
when selected, the positions are mirrored so that they can be reached by a
robot with the Base mirrored with respect to the specified Mirror Plane (see
the NOTE about Reachability of the mirrored positions). In Fig. 7.34, the
$BASE reference frame is mirrored in $BASEm.
$TOOL and $UFRAME change according to the other fields. The newly
calculated Base is provided as an output in the New Base fields.
This functionality is useful when there are two robots (right side and left side
of a line).
The newly calculated Base is provided as an output in the New Base fields only if the
Compute new Frame checkbox is selected; otherwise it is to be provided by the user
as an input before starting the program manipulation.
• Mirror UFrame
when selected, the positions are mirrored so that they can be reached by a
robot with the User Frame mirrored with respect to the specified Mirror Plane
(see the NOTE about Reachability of the mirrored positions). In Fig. 7.34, the
$UFRAME reference frame is mirrored in $UFRAMEm.
$TOOL and $BASE change according to the other fields. A new TU_FRAME.
COD file is provided as an output, including the new User Fames table.
This functionality is useful when a single robot operates onto parts with their
own frame (left part, right part).
A new TU_FRAME. COD file is obtained as output, together with the new UserFrame
table only if the Compute new Frame checkbox is selected, otherwise a new
TU_FRAME. COD file must be provided as an input by the user before starting the
program manipulation which could then set the new UFRAME values.
• Mirror Tool
when selected, the positions are mirrored so that they can be reached by a
robot with the Tool mirrored with respect to the specified symmetry plane of
the robot flange (see the NOTE about Reachability of the mirrored positions).
In Fig. 7.34, the $TOOL reference frame is mirrored in $TOOLm.
$UFRAME and $BASE change according to the other fields. A new
TT_TOOL. COD file is provided as an output, including the new Tools table.
This functionality is useful when the robot/robots uses/use different tools for
the two programs.
A new TT_TOOL. COD file is obtained as output, including the new Tools table, only if
the Compute new Frame checkbox is selected, otherwise a new TT_TOOL. COD file
must be provided as an input by the user before starting the program manipulation which
could then set the new TOOL values.
– Joint Position
by default mirror is applied to positional variables of POSITION and XTNDPOS
data type. If also JOINTPOS should be involved, this checkbox should be selected.
In case of JOINTPOS, Mirror function is only applied to the values of axis 4 and 6
of the robot.
– Output file
the user must define the name of the being created .VAR file, containing the
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– Referred to UFrame
if selected, the user defined Mirror Plane is referred to the UFRAME (if left to 0, it
is exactly the UFRAME itself) and not referred to the World frame.
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Note that multiturn flags, if any, are automatically inverted by the Mirror function.
E.g.: ‘WS T2:-2’ becomes ‘WS T2:+2’.
7.5.1.5.6 Calibration
This operation is used for correcting a program in case the variable which stores the
calibration constant changes.
– New files: the user must specify the name of the .C5G configuration file, which
contains the calibration values ($CAL_DATA[axis]) to use in the conversion of the
.VAR.
– Output file: the user should define the name of the .VAR file to create after the
conversion of the positional data basing on the new calibration constant.
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The following information available for the user to choose from to see in the log file:
– Wrong movement lines.
Displays in the log file the movement lines on which the data conversion generates
an error.
– Correct movement lines.
Displays in the log file the movement lines that have been properly converted.
– Line number display.
Allows the application to add the line number next to each movement instruction
written in the log file.
– Variable Name.
The application adds the variable name to the log message to inform the user
which variable has been manipulated.
– Variable Value.
The application adds the value of the manipulated variable to the log message.
– Joints position.
Adds the position of the joints in the message generated for the manipulation of a
movement instruction.
– Tool and Frame Value.
The Tool and Frame values can be viewed in the log file where an instruction has
been manipulated.
– Error message.
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Enables displaying of error messages that have been generated during the
manipulation of an instruction.
– Tool and Frame value.
The data referring to the Tool and the Frame is added in the log file.
– Statistics.
The summarized data on the executed operation (for example, the number of
changed instructions) is added to the log file.
First a window is shown that, as first screen page, displays the default profile with the
operations enabled for the profile, corresponding to the different states of the system
(see Fig. 7.39).
If it is wished to modify the characteristics of the new user profile to be created, in
relation to the default, this can be done by selecting one of the standard profiles provided
by the system (Administ, Service, Maintain, Programmr, Technology) or one which has
been completely customised.
It is possible to act on the checkboxes shown in Fig. 7.40, enabling/disabling the various
operations available.
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Comau Robotics Product Instruction
The User view level and User modify level bits indicate, respectively, the viewing and
modifying level. They are used to allow either viewing or modifying a Program in IDE
Page on the TP, comparing them to the corresponding file property.
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The list of the devices is read once only, during connection. If devices are added or
removed during the connection (for example Disk-on-Key on the Control Unit or
Windows network drives on PC), the Directories Panel will not be updated with these
devices. To run the list of devices refresh, close the current session and reconnect.
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The same operation can also be carried out from the Tools menu ("Protect" and
"Unprotect").
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– Quit
Closes the application.
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The options of this menu are described in detail in par. 7.5.1.5 Files Manipulation on
page 444.
– Axis Check
– Tool / Frame Update
– Linear Shift
– Rotate and Linear Shift
– Mirror
– Calibrate
– Sysdata Adjust
– Turn Difference
– Settings
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Comau Robotics Product Instruction
a. from WinC5G, select Help Menu and 'Insert the log-in code’. Read the number
beside the ‘Identifier’ field.
c. COMAU will send an ASCII file containing the access word to the function. Open
the file with any Editor,
e. copy it,
g. confirm by pressing Record and check that the files Handling menu is enabled.
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opened by another WinC5G. In fact, several connections are allowed to the robot
but only one Terminal can be active. To open the Terminal it is therefore necessary
that the user who is already connected closes that Terminal session.
When attempting to connect to the Control Unit the application replies with the
message "Impossible to connect with the server"
Should it be impossible to connect to the server, there could be a conflict problem
between DHCP and proxy Server. To check this, try connecting to the Control Unit
with the ftp command from the Control Units Prompt and from Internet Explorer.
If the first command functions and the second one fails, it is necessary to disable
the use of a server proxy in the settings of the local network (LAN).
Furthermore before starting WinC5G, check that the settings for the Server Proxy
are correct for the network it is connected to.
Upon connection the error "Authorisations not available for the password"
This happens when the user has made a Login with a Password that is not
compatible with the users database defined in the system. That is to say, the
combination of Login and Password is not foreseen by the Control Unit that the
user is connecting to.
Upon connection or the Set Login command sent from the terminal, the error
"Exclusive Login" is returned
This error occurs when a user is working on the Control Unit with a right to
exclusive access, i.e. that does not permit the use of the system by other devices.
It is necessary to Logout from other devices that are not the one required for
connection and, if necessary, to also delete the Startup Login.
Upon connection, or when a file is selected from the Files Panel, a message is
displayed that indicates "Conflict between Controller and Translator versions”
To solve this problem, it is necessary that the translator DLL, indicated in the C5G
box Library version in the Properties Window is greater than or equal to the Control
Unit version.
Attempting to connect to the Control Unit, the application replies with the
message "The computer is not connected to the network"
To solve this problem, open the Internet Explorer, go to the Files menu and
deselect "Not in line".
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a. By opening the Properties window from WinC5G, the selected directory for files
transfer can be viewed/changed.
b. Type FV (Filer, View): <COMP:(FILE_NAME)> and press the ENTER key on the
PC. The selected file will be displayed.
a. By opening the Properties window from WinC5G, the selected directory for files
transfer can be viewed/changed.
b. Type FD (Filer, Delete): <COMP:(FILE_NAME)> and press the ENTER key on the
PC.
a. By opening the Properties window from WinC5G, the selected directory for files
transfer can be viewed/changed.
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b. Type FC (Filer, Copy): <COMP:(FILE_NAME)> and press the ENTER key on the
PC; this message will be displayed:
Name of destination file
c. Enter the name of the destination file, <UD:(FILE_NAME)> and press the ENTER
key on the PC; after the operation this text will be displayed:
Done
The contents between round brackets can be omitted.
See NOTE regarding the total amount of entries in the UD: root directory.
a. By opening the Properties window from WinC5G, the selected directory for files
transfer can be viewed/changed.
b. Type FC (Filer, Copy): <UD:(FILE_NAME)> and press the ENTER key on the PC;
this message will be displayed:
Name of destination file
c. Enter the name of the destination file, <COMP:(FILE_NAME)> and press the
ENTER key on the PC; after the operation this text will be displayed:
Done
The contents between round brackets can be omitted.
For further details, see par. 5.15.1.2 Backup on page 195, par. 5.15.1.3 Backup of
Saveset on page 197 and par. 6.9.4.8.1 FILER UTILITY BACKUP (FUB) on page 389.
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See NOTE regarding the total amount of entries in the UD: root directory.
For further details, see NOTE, par. 5.15.1.4 Restore on page 198 and par. 6.9.4.8.2
FILER UTILITY RESTORE (FUR) on page 390.
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Comau Robotics Product Instruction
9.1 Foreword
This chapter describes the following:
– System operating modes
– System states
– Stand-by function
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Comau Robotics Product Instruction
When the status selector switch is set on position T1, the programs can be developed
using editor environment and the spots can be taken from the Teach Pendant moving
the robot manually with the motion keys; the programs can be set up using the debug
tools of the system. In programming mode, the execution of a move instruction requires
that the operator presses the START key and the enable device on the Teach Pendant.
When the status selector switch has been set on T1, the system is under the control of
the operator. When the selector is set on REMOTE, the system is under remote control
(for example from PLC).
Active TOOL, BASE and FRAME cannot be changed when working in REMOTE.
Before any operation can be executed that requires movement, the drives must be
powered:
– if the state selector switch is in T1 position, press in the intermediate position the
Teach Pendant Enabling Device, to power ON the drives; tho switch them OFF and
activate brakes on all axes controlled by the Control Unit, just release the Teach
Pendant Enabling Device,
– if the state selector switch is in AUTO position, touch R5 key (Teach Pendant right
menu - it means DRIVE ON when in AUTO state), to power ON the drives; to
switch them OFF and activate brakes on all axes controlled by the Control Unit,
touch R5 key again (Teach Pendant right menu - now it means DRIVE OFF).
Active TOOL, BASE and FRAME cannot be changed when working in AUTO.
– if the state selector switch is in REMOTE position, DRIVEs ON and OFF are
remote controlled.
A detailed description follows of all the possible system states.
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Comau Robotics Product Instruction
If the controlled stop function class 1 (EN 60204-1) is active, the power cut-out (opening
of the power contactor) may take place with a delay that ranges from a minimum of 1
second to a maximum of 2 seconds.
With the status selector switch positioned on T1, the power cut-out is immediate (EN
60204-1, class 0 stop).
– ALARM status: this status is entered when there is a system alarm. According to
how serious the error is, the system takes different actions, such as suspending the
program execution, deactivation of the drives, etc. A situation may occur where the
alarm cannot be reset, therefore the drives cannot be switched on.
The current system status is displayed on the first status line of the Teach Pendant (or
in the Terminal window of tool WinC5G on PC).
The figure shows a simplified diagram of the actions that determine the system
change-over from one state to another.
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Comau Robotics Product Instruction
executed. When the START key is released again the system returns to HOLD status.
When entering the HOLD status, the corresponding HOLD key on the Teach Pendant
is considered as pressed. Further pressure on the key causes the system to exit from
HOLD status.
If the HOLD status has been caused by pressing the DRIVE OFF key on the Teach
Pendant (either Enabling Device released or R5 softkey pressed meaning DRIVE OFF),
the DRIVE OFF and HOLD keys must be pressed again to exit from HOLD status, and
then re-power the drives (either intermediate pressure of the Enabling Device or press
R5 softkey meaning DRIVE ON).
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Comau Robotics Product Instruction
robot is stationary.
The function is automatically activated when the Control Unit is in local automatic or
remote automatic mode and after the robot has remained stationary for a time defined
by variable $TUNE [27];this function activates the motor brakes to keep the static
position of the robot. The value of variable $TUNE [27], set by COMAU, is 120 seconds;
if this variable is set to 0 the function is deactivated.
The Stand-by function is automatically deactivated at the first request to start movement
again (START, RESUME) from the system.
The system Stand-by status is displayed in the status bar of the Teach Pendant. To
display the state of a single arm, read this status on the Status sub-page, the Motion
Page on the Teach Pendant.
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Comau Robotics Product Instruction
Please refer to C5G Control Unit - Technical Specification manual, chap. Start and Stop
Controls, and PDL2 Programming Language manual chap.Ports for any information
about, respectively, hardware and programming topics.
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Comau Robotics Product Instruction
To configure I/O modules on the Fieldbus Master network, it is needed to use both
SYCON.net and WinC5G programs, on the PC, to create the file which is then
processed by the IO_CNFG Program - I/O modules configuration and FB_util Program
- Fieldbus modules utility.
A detailed description is provided in par. 11.3 Project of a Master Fieldbus Network on
page 509.
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Comau Robotics Product Instruction
Note that before mapping(*) I/O points (see IO_MAP Program - I/O ports mapping), it is
needed to have already configured their corresponding modules, by means of this
program.
(*) ‘Mapping’ means to put in relation the Devices I/O Points with the PDL2 logical Ports
(es. $DIN, $DOUT, etc.).
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Comau Robotics Product Instruction
The IO_CNFG program is always present and available on the Teach Pendant.
To use it, act as shown in Fig. 11.1. Such a procedure steps, fully described, are as
follows:
b. touch IO icon
In the main page of IO_CNFG program, the following functionalities are available:
– Network
– Serial
– Acopos
– Annex
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Comau Robotics Product Instruction
– Save
– Exit.
11.1.2 Network
Allows selecting the Network on which to insert and configure a new I/O module.
By touching Network key, the program opens a menu for the User to choose the wished
network. The following choices are available:
– Powerlink - for Fieldbus and X20 I/O modules
– Virtual - for creating not physically existing devices.
Back
Note that in all screen pages of all the existing levels, Back key is always present to
allow quitting such a step of the procedure, and going back to the previous one.
11.1.2.1 Powerlink
Touching Powerlink item, the following table is displayed.
In such a table, there are some rows, for the two allowed Bus Coupler devices to be
inserted into the Powerlink Network.
The table columns are:
– Device - is the device code
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Comau Robotics Product Instruction
– Address - is the fixed address, set by means of the rotary switches, placed onto
the module.
For the Bus Couplers addresses, they are fixed to 129 (0x81) and 130 (0x82).
Tab. 11.1 - Powerlink Network address settings for the Bus Coupler
module
Rotary switches
settings
Bus Coupler module function (Address) Notes about the addresses configuration
X16 X1
– Present - indicates whether the device is currently present (YES) or not (NO) onto
the Powerlink net.
This subpage Functional keys menu provides the following commands:
– Add
– Remove
– Fieldbus
– X20
– Back.
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Comau Robotics Product Instruction
11.1.2.1.1 Add
It allows adding the Device to the Powerlink network, to be able to configure its
corresponding modules.
As soon as this key is touched, the program inserts the word YES in Present column.
11.1.2.1.2 Remove
It allows removing the selected device, from current network. This key is available just
if the device is present.
As soon as this key is touched, the program removes the whole row content.
11.1.2.1.3 Fieldbus
It allows the configuration of the Fieldbus modules inserted in the Bus Coupler.
By touching this key, the program displays a table corresponding to the two slots of the
being configured Fieldbus.
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Comau Robotics Product Instruction
When Select key is touched, the wished slot is selected and the User is allowed to insert
a new module in such a slot
NOTE - In the C5G Control Unit, 3 Fieldbus modules are allowed to be present,
distributed between the 2 Bus Couplers.
They can be:
– 2 Slaves and 1 Master, or
– 2 Masters (in 2 different Bus Couplers) and 1 Slave.
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Comau Robotics Product Instruction
The program displays a screen page in which it is possible either to continue configuring
the newly inserted module (Configure key), or clearing it (Delete key) and selecting a
new one.
When touching Configure key, the program displays the following screen page (an
example for Profibus network is shown), in which the User has to fill up the existing
fields:
– User name - is the name chosen by the User, to identify the being inserted module.
This name follows the PDL2 variables standard naming, a length of 8 alphanumeric
characters is suggested. Furthermore, in case of Profinet network, DO NOT use
the underscore ( _ ) character)
– Network address - is the node address on the network which the Slave is
connected to
– Input/output bytes - is the total number of exchanged input/output bytes
– Baud rate - is the operational speed of the module, kbit /s
– System profile - the User must select it to be able to associate the System Profile
to it, by means of Profile function of IO_MAP Program - I/O ports mapping.
To import the specific configuration file into the Master device, see the related NOTE (2).
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Comau Robotics Product Instruction
NOTE (1)
Comau Profinet Slave DOES NOT implement LLDP protocol, which is used for Profinet
network topological handling.
Thus, mainly in Siemens development environments, the network topology MUST NOT
be used.
– Ethernet/IP - the Network address is the IP address (when the Control Unit is
connected to the same Ethernet network, this address MUST NOT be equal to the
Control Unit’s one); it is also allowed to specify both the local network mask
(Network Mask) and the Gateway; the Baudrate is not specified.
– EtherCAT - Network address and Baudrate are not specified. The required User
name is the Control Unit.
For any other field, please refer to the Profibus Slave configuration description.
NOTE (2)
The listed below configuration files associated to the Slave Modules, are provided by
Comau and are to be imported into the Master device, according to such a device
information (refer to the specific manual, provided by the Master device Builder):
– CANopen - cmu_idi.eds
– DeviceNet - BuR-X20IF1053-1.eds
– Powerlink - 00000000_C5GAnnex.xdd
– Profibus - B&R_BC2D.gsd
– Profinet - GSDML-V2.1-BR-X20IF10E3_1-20110420.xml.
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Comau Robotics Product Instruction
In the shown above figure, the User can either continue configuring the newly inserted
module (Configure key), or clearing it (Delete key) and selecting a new one.
Configuring a module on the Master network means to define all the connected devices.
It is performed offline (on Personal Computer) by means of SYCON.net and WinC5G
programs (please, refer to par. 11.3 Project of a Master Fieldbus Network on page 509).
WARNING - while configuring a device again on the Master network (e.g. to add one more I/O
module), any device of the new configuration which was already present in the old one, is NOT
modified, so it still keeps the previous I/O mapping, if already existing.
As soon as the .spb file has properly been transferred to UD:\SYS\CNFG directory on
the Control Unit, touching Configure key causes the selected module to be configured
on the Master network.
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Comau Robotics Product Instruction
In directory
LD:\EPL
the following files are created (the ones corresponding to the being configured network only,
obviously):
UD:\SYS\CNFG
IO_CNFG program displays a table, on the Teach Pendant, including all the devices
connected to the configured module.
The table contains the following information:
– Addr. - is the address of the being configured device, within the chosen Master
network
– Name - is the device name
– Inp byte / Out byte - is the total amount of exchanged Input and Output BYTEs
– Enabled - if this field value is YES, the corresponding device must always be
connected, otherwise an error occurs. If the value is NO, no errors occur even if not
connected; this functionality is useful for devices which could temporarily be
disconnected (e.g. after an automatic tool change).
This field can be modified by Enable and Disable keys, available in the Functional
keys menu.
At the end of the configuration operation, a screen page is displayed stating the
configuration has been performed.
Command Info is now available in the Functional keys Menu, to display a screen page
including information about the Master network configuration (as shown in the following
figure).
The displayed data are:
– Project file name (.spj) corresponding to the selected Master network
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Comau Robotics Product Instruction
After selecting SLJ option, the Fieldbus module is finally configured and the user can
continue with inserting (par. 11.1.2.1.4 X20 on page 487) and configuring (par. SLJ
(Self Learning Joystick) on page 494) the corresponding X20 module.
11.1.2.1.4 X20
It allows configuring the X20 modules for digital and analog I/Os currently inserted in the
Bus Coupler.
Touching this key, the program displays a table containing all the available slots.
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Comau Robotics Product Instruction
The X20 modules are to be inserted sequentially, starting from slot n.1, exactly like they
have been physically mounted into the Bus Coupler.
Touch Insert key to insert a new module. The program displays a table containing the
list of all the available modules.
Note that there are some X20 modules allowing to configure some parameters. If so,
Configure command is available in the Functional keys Menu. Touch such a key and
insert the required information.
The program automatically generates a module name. The User is allowed to modify it,
if wished, taking care of choosing a unique name in the system.
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Comau Robotics Product Instruction
To do so, touch Rename key: in the displayed screen page, insert the wished name and
touch OK to confirm.
This name follows the PDL2 variables naming, a length of 8 alphanumeric characters is
suggested.
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Comau Robotics Product Instruction
Each IEAK module can handle until 4 Arms: in the displayed page, the User has to select
the Arm which the being configured IEAK module is associated to.
As soon as the IEAK module has been installed and configured, MOTOR ON and
MOTOR OFF commands are made available for each selected Arm.
Signals made available by the System (MOTOR ON and MOTOR OFF) MUST be
mapped by the User to the wished logical ports.
At the end of the required fields completion, touch Set key to activate the wished
settings.
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Comau Robotics Product Instruction
Touch it to confirm. The System displays the page shown in the following figure,
including a table which allows to ACTIVATE/DEACTIVATE IESK devices: this means to
tell the System the option (i.e. the kit) is PRESENT.
In the table, columns are available for:
– existing Arms
– existing Auxiliary Axes - note that the index of the real auxiliary axis does not
match with the one indicated in the table, which is just a sequential ordinal number
– Robot - it is the whole robot seen as it was a unique axis, thus being able to have
got its own IESK.
If a IESK is ACTIVE (ON), when connecting the associated Axis (or Robot) is wished,
the System checks whether or not such a IESK is enabled.
To modify the activation settings, touch the cell of the wished Arm and Axis, or Robot.
Choose the new setting and touch OK to confirm.
At the end of the settings modification, touch Set key to confirm the whole table content.
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Comau Robotics Product Instruction
When selecting the inserted interface module, a list is made available (Kit menu), in
which Conveyor item must be chosen (see previous figure on the left).
Depending on the module type, the displayed page is different, because of the
appropriate parameters to be set.
When all the wished values have been inserted, touch Set key to confirm.
The above dscribed configuration operation makes some ports available to handle the
Conveyor device (e.g. reading its position); they are of Flexible Multiple type ($FMI and
$FMO).
If module X20DS 1828 corresponds to the first existing module in the rack, for a
Conveyor, it is associated to the predefined KIT 1.
The assigned ports are as follows:
– $FMI[129] - linear/rotative encoder (depending on the set type) position;
– $FMI[130] - error bit;
– $FMI[131] - error code
– $FMO[129] - any signal towards the external device.
If a second module is present, it is associated to KIT 2.
The assigned ports are as follows:
– $FMI[132] - linear/rotative encoder (depending on the set type) position;
– $FMI[133] - error bit;
– $FMI[134] - error code
– $FMO[130] - any signal towards the external device.
After saving all settings, in order to make the modifications operational, a Control Unit
Cold Restart command must be issued (see par. 5.8.2.2.1 Cold on page 104).
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Comau Robotics Product Instruction
Selecting the newly added interface, the Kit menu is made available, in which the user
must choose SeamTrack item.
A page is displayed for the user to enter the wished values for the selected module.
Definition of filter level field indicates the level of the filter which is applied to the input
signal. The higher the specified level, the stronger the filter action which must limitate
such a signal variations.
Limitation of input ramp field allows to specify how to limitate spikes on the input
signal: its value indicates the maximum acceptable variation for such a signal.
After entering the wished data, touch Set key to confirm them. For filter level values, see
the left figure above; for input ramp limitation values see the right figure above.
The X20 module name, so entered and configured, becomes SEAM_TRACK.
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Comau Robotics Product Instruction
For the Fieldbus module insertion and configuration, please refer to par. Exception:
CANopen Master for SLJ option on page 487.
The required X20 module for SLJ option, must include 12 digital inputs (as shown in the
figure below). Insert it by touching Insert key.
SLJ Kit is available only if the corresponding SLJ (Self Learning Joystick) software
option is enabled.
When the inserted interface is selected (see the figure above), open Kit menu and
choose SLJ item to configure the optional module.
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Comau Robotics Product Instruction
Proceed with saving the newly added configuration and then restart the system.
11.1.2.2 Virtual
When the physical devices are not available yet and it is wished to start developping
PDL2 programs which use them, the User is allowed to define some general Virtual
Devices, specifying their names and total amount of bytes.
Such points will be later mapped, by means of IO_MAP Program - I/O ports mapping, to
the PDL2 logical ports the User wishes to use in the being developped program.
Touch the Virtual network choice to confirm it.
The table in the figure below is displayed, including the lists of the currently present
Virtual Devices.
11.1.2.2.1 Add
Adds a new Virtual Device.
In the shown above table select an empty line and touch Add.
The program displays the screen page above, in which the User has to insert the
following information:
– Name - is the Virtual Device name (chosen by the User, taking care of assigning a
unique name in the system). It must comply PDL2 variables naming rules; a length
of 8 alphanumeric characters is suggested. - to edit this field, touch it and type in
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Comau Robotics Product Instruction
11.1.2.2.2 Edit
It allows modifying the total amount of either Input or Output bytes, for an already
existing Virtual Device. The program displays the screen page shown in the figure
below.
As shown in the figure below, it IS NOT allowed to modify Name field. The use of this
screen page is similar to the one associated to Add command.
11.1.2.2.3 Delete
It deletes the currently selected Virtual Device. In the example of the figure below,
touching Delete, causes Virtual_dev_2 Virtual Device to be removed from the table.
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Comau Robotics Product Instruction
11.1.3.1 Serial
This functionality has been designed to handle situations in which an application
program must use a second serial port.
Touching Serial key, it is possible to enable COM0: port.
With reference to the left figure below, touch the displayed field to open a list (right figure
below) and choose the wished item. Touch OK to confirm.
Then touch Set key to make the choice operational.
11.1.4 Acopos
Some special purpose Inputs exist, which are dedicated to specific signals, available to
handle the robot axes:
– High speed Input
– Electrical stroke ends
– Air and robot alarms.
They can be associated to the ACOPOS modules (each one of such modules has got a
maximum of 2 available Inputs for as much axes).
The default configuration is NOT ASSIGNED (represented by the hyphen character, as
shown in following figure).
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Comau Robotics Product Instruction
L’utente può variarla nel caso in cui sorgano delle esigenze specifiche. A tale scopo,
nella pagina Configurazione Input ACOPOS mostrata qui sopra, l’utente può
modificare i seguenti dati, semplicemente toccandoli ed aprendo l’elenco delle scelte
predefinite. I campi modificabili sono:
– ARM selezionato - è l’ARM al quale appartengono gli assi interessati
– High speed inputs, Stroke-end, Allarmi aria e robot - sono degli elenchi di
possibili moduli ACOPOS, tra i quali scegliere quello da associare all’Input
specifico.
The user is allowed to modify it, for specific needs. To do that, in the shown above
ACOPOS input configuration subpage, the user can edit the the following data by
simply touching them to list the available predefined choices. The editable fields are:
– Selected ARM - is the ARM which the involved axes belong to
– High speed inputs, Stroke-end, Air & Robot alarms - are lists of existing
ACOPOS modules, among which selecting the one to be associated to the specific
Input.
At the end of the wished operations, touch Set key to confirm all modifications.
11.1.5 Annex
This command is provided to configure new additional network modules (Powerlink
Master, Powerlink Slave, C5GOpen interface, secondary Ethernet interface).
Touch Annex key and select the wished item:
– Powerlink network - master, slave or C5GOpen
– Ethernet network.
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Comau Robotics Product Instruction
According to the choice made by the user, the corresponding page is opened to enter
data for either setting or enabling/disabling the specified module. In the figures below,
two examples are shown:
– enabling the secondary Ethernet interface (left figure),
– setting a Slave Powerlink annex (right figure).
In order to operate about the wished annex modules, touch the corresponding fields,
select the wished choice and touch OK key to confirm it.
Touch Set key to finally confirm all the setting.
11.1.6 Save
This command saves all the performed modifications, without asking for any further
confirmation. An informational message tells the User that data saving has been
executed and that a Restart Cold operation is needed to make the configuration
operational.
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Comau Robotics Product Instruction
11.1.7 Exit
This command allows quitting IO_CNFG program. A suitable message prompts the user
for confirmation. Touch OK key to exit.
The performed modifications, if not previously saved by means of Save command, are
lost.
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Comau Robotics Product Instruction
b. touch IO icon
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Comau Robotics Product Instruction
In the home page of Fb_util program, the following functionalities are available:
– Profinet
– Profibus
– DeviceNET
– Ethernet/IP
– Quit.
Back
Note that in the screen pages of the futher levels, Back key is always present to allow
quitting such a step of the procedure, and going back to the previous one.
11.2.2 Profinet
This command allows to operate on the PROFINET network devices, whose I/O Control
Unit (Master) is the C5G Control Unit, viewing them and associating them to the names
already included in the network project implemented on SYCON.net.
Such an activity is needed at the network first installation time as well as when a new
module is added. It is also needed when a module must be replaced. For further details,
see the following par. 11.2.2.1 Operational procedures on page 505.
The tables included in the page (see Fig. 11.8) are as follows:
– Project
lists all devices inserted at project level (by means of SYCON.net program -
see PROFINET Network in Chap. Project of a Master Fieldbus Network on
page 509).
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Comau Robotics Product Instruction
As soon as the device has been identified, switch off the identification functionality, by
means of the following command
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Comau Robotics Product Instruction
The selected name is then associated to the specified device and, if it is the right one,
such a device is declared as ‘connected’ (by means of the word OK in the corresponding
Sts column of Project table - see below figure)
If the model of the selected module is wrong, the name-device association is anyway
performed, but such a device IS NOT declared as ‘connected’.
By pressing Scan key again, the program reads the corresponding IP address for the
connected device, and inserts it into the corresponding column of Available devices on
network table (see Fig. 11.11).
If going back to the initial situation is required, for a single device, select it in the
Available devices on network table and issue the following command (see Fig. 11.12.)
Device -> Factory reset
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Comau Robotics Product Instruction
When the wished operations have been accomplished, press Back key to go back to
the FB_util program start page.
a. choose Profinet - the program displays the page shown in Fig. 11.8: the devices
included in the Profinet network design are listed in the left table (called the Project
table); nothing is listed in the right table (called the Available devices on network
table).
b. Touch Scan key to ask for the list of the currently present devices onto the network
(see Fig. 11.9).
c. Select the device whished to be visually detected, from the Available devices on
network table.
d. If it is not possible to read the MAC address which is printed onto the object, touch
Device key; otherwise directly go to j. step;
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Comau Robotics Product Instruction
f. and then select ON item - such a command activates a signalling finctionality onto
the selected device (e.g. blinking a LED or similar functionalities, depending on the
device type).
g. As soon as the device has properly been detected, touch Device key
j. Select, from Project table, the being connected device name, assigned at the
design time;
k. Select, from the Available devices on network table, the being connected device
MAC address;
m. choose Set name - FB_util program connects the selected device. This is notified
by FB_util program, both by means of a suitable message in the message line and
by the word OK in the Sts column (Project table), for the corresponding connected
device.
n. Repeat the procedure for any other device to be connected onto Profinet network,
starting again from c. step.
o. At the end touch Scan again, to update the tables: the IP address is then displayed
too for each connected device (see Fig. 11.11).
c. Touch Scan key to ask for the list of the currently present devices onto the network
(see Fig. 11.9).
d. Select the MAC address of the just inserted device, from the Available devices on
network table.
e. If it is not possible to detect it for sure, execute steps from d. to i. of previous First
installation procedure;
f. select the name of the just inserted device, from the Project table,
h. and then select ON item - such a command activates a signalling finctionality onto
the selected device (e.g. blinking a LED or similar functionalities, depending on the
device type).
i. As soon as the device has properly been detected, touch Device key
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Comau Robotics Product Instruction
l. Select the being connected device MAC address, from the Available devices on
network table,
n. choose Set name item - FB_util program connects the selected device. This is
notified by FB_util program, both by means of a suitable message in the message
line and by the word OK in the Sts column (Project table), for the corresponding
connected device.
o. At the end touch Scan key again, to update the tables: the IP address is then
displayed too for each connected device (see Fig. 11.11).
11.2.3 Profibus
It is just a diagnostic functionality: it allows to scan the network and detect the currently
existing devices.
When this modality is selected, the page shown in Fig. 11.13 is displayed.
By means of Scan command, the system is asked to detect and list all the currently
present devices onto the Profibus network.
11.2.4 DeviceNET
It is just a diagnostic functionality: it allows to scan the network and detect the currently
present devices.
When this modality is selected, the page shown in Fig. 11.14 is displayed.
By means of Scan command, the system is asked to detect and list all the currently
present devices onto the DeviceNET network.
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Comau Robotics Product Instruction
11.2.5 Ethernet/IP
It is just a diagnostic functionality: it allows to scan the network and detect the currently
present devices.
When this modality is selected, the page shown in Fig. 11.15 is displayed.
By means of Scan command, the system is asked to detect and list all the currently
present devices onto the Ethernet network.
11.2.6 Quit
This command causes to quit FB_util program.
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Comau Robotics Product Instruction
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Comau Robotics Product Instruction
d. When the Slave is not present in the catalog yet, execute the following steps:
d.3 Select the descriptor file for the wished configuration (the file extension for Profibus
network is .gsd)
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Comau Robotics Product Instruction
e. The wished Slaves are inserted onto the Master network, by dragging & dropping
them (see Fig. 11.19, highlighted in red) from the Slave directory.
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Comau Robotics Product Instruction
PROFINET Network
WARNING! In case of PROFINET network, choosing Symbolic Name to specify the
Slave Name does not take any effect. In such a situation the User must choose the
Master Configuration: in the Master Navigation Area, select “Configuration”, “Device
Table” and specify the Slave name in “Name of Station” column (see Fig. 11.20
highlighted in red).
NOTE - Insert a name which is unique in the system and comply the PDL2 variables
naming rules.
To do so, it is suggested to just use alphanumeric characters and the underscore ( _ )
character; remember that the underscore character is NOT allowed for PROFINET
network. It is NOT allowed to use reserved words belonging to PDL2 language!!
Furthermore, it is suggested not to use too long names (e.g. maximum length of 8
characters).
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Comau Robotics Product Instruction
If the Slave is C5G Control Unit, when the being used bytes are selected (in the Modules
window), the only allowed options are as follows:
– 8 Input bytes and 8 Output bytes,
– 16 Input bytes and 16 Output bytes,
– 32 Input bytes and 32 Output bytes,
– 64 Input bytes and 64 Output bytes.
These options are mutually exclusive: one and just one option must be selected.
g.4 select Modules item in the Navigation Area (see Fig. 11.22 highlighted in red)
g.5 choose the modules which are present in the User’s Hardware and insert them in
the proper sequence. For a detailed description of such operations, please refer to
the specific SYCON.net online manual
g.7 Each device has got its own parameters to be configured. Set them by selecting
Parameters item in the Navigation Area (see Fig. 11.23 highlighted in red)
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Comau Robotics Product Instruction
g.9 Depending on the Slave supporting or not the DPV1 protocol, enable/disable such
a functionality (select DPV1 item to access the enable/disable checkbox).
g.10 When the Slaves configuration is completed, press OK to confirm all the inserted
data.
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Comau Robotics Product Instruction
l. fix any value marked by an exclamation mark (see Fig. 11.24, field highlighted in
green), by pressing the Adjust key (highlighted in blue in Fig. 11.24).
Note that such an operation must be executed when ALL the Slaves have already been
inserted!
m. Select Station Table item (see Fig. 11.25 highlighted in red). This screen page
allows setting the Slaves addresses.
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Comau Robotics Product Instruction
p. Press OK.
q. Select Address Table item (see Fig. 11.27 highlighted in red). This summary page
contains the same information that will be included in the .csv file, in ascending
order of address, one table for Inputs and one for Outputs.
r. At the end of the project activity, go on with saving operation; SYCON.net program
generates a file, with extension .spj and a directory with the same namee una.
The project name, used both for .spj file and the homonymous directory, must only
include alphanumeric characters, with neither special characters nor blanks. It is NOT
allowed to use reserved word belonging to PDL2 language!
The underscore (‘ _ ’) character is allowed.
s. Generate the needed files for exporting the project towards the Control Unit (see
Fig. 11.28). The below described procedure must be executed both for .csv files
(CSV item in the menu) and for .nxd files (DBM/nxd item in the menu).
The file names to be used for exporting, must be the same of the .spj file name
(e.g. if the project name is PROJ25.spj, the being exported files are called
PROJ25.csv and PROJ25.nxd).
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Comau Robotics Product Instruction
s.5 choose the wished file type (sequentially, CSV and then DBM/nxd). As the
destination directory, choose the same where .spj file is stored.
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Comau Robotics Product Instruction
u. select .spj project file. In the same directory, the corresponding .csv and .nxd
previously exported files, must be present.
x. Select the fieldbus which the project refers to (see Fig. 11.29)
y. A file is created, with .spb extension, containing .spj file, the directory with the
same name, the exported files (.csv and .nxd) and the Slave modules descriptors
used in the Fieldbus network (.gsd or .gsdml or .eds, depending on the chosen
network; for Profibus the extension is .gsd).
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Comau Robotics Product Instruction
UD:\SYS\CNFG
• choosing General area, select all the check-boxes related to Verify device
ID, except Revision (as shown in Fig. 11.30, highlighted in red)
• choosing Connection area, if the module allows it, select Change OF state
connection check-box (as shown in Fig. 11.31, highlighted in red).
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Comau Robotics Product Instruction
• choosing Connection area, if the module allows it, and Change of state,
sub-area, set Production Inhibit Time; suggested values 10 or 20 or 30 ms
(as shown in Fig. 11.32, highlighted in red).
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Comau Robotics Product Instruction
• If, on the contrary, Change OF state is disabled, select Poll area and check
that the Production inhibit time is NOT set to zero! Suggested values: 10 or
20 or 30 ms.
– Master configuration
• In Configuration area, instead of Station table there is MAC ID table and,
as Bus parameters, the only item to be modified is the network Baud rate.
For the other items there are no differences.
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Comau Robotics Product Instruction
b. Transfer .spb file from UD:\SYS\CNFG directory to the work directory on the PC.
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Comau Robotics Product Instruction
d. choose Unpack SPJ command - (see Fig. 11.33) .spj file, the homonymous
directory and the Slave modules descriptors (which are saved to Device
Description sub-directory) are extracted.
g. if some descriptor files are not present (in such a situation a red X replaces their
names), the User must import them into the catalog taking them from the Device
Description directory;
h. modify the project like what described for the procedure for creating a new project
(see d., f. and g. steps of par. 11.3.1 Creating a new project on page 509).
i. At the end of the project modification activity, go on with saving operation (see step
r. of par. 11.3.1 Creating a new project on page 509).
j. Execute steps s. through z. (of par. 11.3.1 Creating a new project on page 509), to
update the project onto the Control Unit.
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Comau Robotics Product Instruction
Note that before going on with mapping I/O points, it is needed to have already
configured their corresponding modules (see IO_CNFG Program - I/O modules
configuration).
The IO_MAP program is always present and available on the Teach Pendant.
To use it, act as follows:
b. touch IO icon
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Comau Robotics Product Instruction
As shown in the figure above, in the home page of IO_MAP program the following
functionalities are available:
– Devices
– Port list
– Profile
– Link
– Save
– Exit.
Back
Note that in all screen pages of all the existing levels, Back key is always present to
allow quitting such a step of the procedure, and going back to the previous one.
11.4.2 Devices
This command allows to display the list of all Devices currently existing in the
System and handle mapping their associated I/O points.
There’s also the possibility of handling virtual devices defined as USER Devices, useful
for the installed applications in the System.
They apply to additional modules, application specific, such as welding timers, welding
guns, etc.
Please refer to the specific description in the corresponding par. 11.4.2.5 USER Devices
on page 532.
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Comau Robotics Product Instruction
If the total amount of I/O points is too much high (e.g. 128 pages), it is useful to be able
to directly go to the wished page, without being forced to pass all the previous ones. It
is then available a Numeric field to directly select the wished page.
Note that Input and Output points are in two different arrays, so the offsets of these and
those are referred to their own array.
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Comau Robotics Product Instruction
Here follow the status bits layout and the I/O images offsets, for the following
Devices:
Page to
Name Description Byte Direction Pos.
start
Status byte (do not
ModuleOK 1^ byte IN 1
map)
StatusInput01 1^ Input bit IN 2.1 2
2^ byte
StatusInput02 2^ Input bit IN 2.2 2
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Comau Robotics Product Instruction
Page to start
Name Description Byte Direction Pos.
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Comau Robotics Product Instruction
Page to start
Name Description Byte Direction Pos.
The involved subpage is provided with a Functional keys menu including the following
commands:
– Map or Modify - I/O points
– Clear - I/O points
– Direction - I/O points
In the case in which the table includes more than one page, there are two more enabled
softkeys, allowing to visit all the pages:
– Prev.page and Next page - I/O points.
Touching Map key, the following fields are displayed for the I/O points mapping:
– Category - port category: Digital, Analog, Flex
– Index - PDL2 port index (e.g. $DIN[3] - the index is 3)
– Bit size - PDL2 port size (total amount of bits). This value can be set for Flexible
ports only.
– Ports number - total amount of involved ports of the specified above type.
Touch Advanced key to view the needed fields to setup all data corresponding to the
associated port.
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Comau Robotics Product Instruction
Please note that the same fields are displayed when touching Modify key, to edit an
already mapped point data.
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Comau Robotics Product Instruction
It allows to clear the mapping of the I/O points belonging to the currently selected
Device. A menu is displayed when this functionality is activated, allowing to choose
whether to clear
– All - all the I/O points belonging to the Device
– Inputs - the Input points only
– Outputs - the Output points only.
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Comau Robotics Product Instruction
Touching Move key, the shown above page is displayed in which the User is requested
to provide the following information:
– Input Ports / Output Ports - specifies whether the Input Ports and/or the Output
Ports are moved to the target Device
– to device - is the name of the Device which the currently selected Device is to be
moved to (in the previous figure example, the being moved Device is SDM). To
select the target Device, touch the Combobox, choose the wished Device and
press OK to confirm.
Once the choice has been made, confirm moving by touching OK key.
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Comau Robotics Product Instruction
Note that the corresponding real user device MUST be already mapped!
Touching Modify key, the program displays the following page in which the user should
associate technological signals to ports.
The technological signals displayed with a ‘*’ symbol, are MANDATORY, so it is
NEEDED for each one of them to be associated to a port.
Select a technological signal in the left column. In the shown example, the technological
signal “Input 1” is selected.
Select the wished port to be associated to the technological signal, in the right column
e.g. Digital Input 4.
Touch Set key, to associate the selected technological signal to the selected port.
Example: “Input 1” technological signal associated to Digital Input 4 port.
In case in which the user wishes to modify an already set association, press Clean key.
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Comau Robotics Product Instruction
When associating the wished technological signals and the corresponding ports is
completed, touch Back key to exit from the subpage.
At the end, touch Back key again to exit from this subpage.
If even just one mandatory technological signal has NOT been associated to any ports,
a warning message is issued.
If, anyway, the user wishes to quit the subpage, touch OK key. Otherwise, choose
Cancel and set the required association. Touch Back key to exit.
Note that this is merely a view functionality. As already told before, if the User wishes to
modify one or more points belonging to one or more Devices, it is needed to use the
Devices command.
As shown in the above figure, a table is displayed containing the following information:
– Name - is the port name
– Device - is the Device the port is associated to
– Pos - is the position of the I/O point of such a Device
– L - port length (in bits)
– Help - is the help string, describing the port meaning
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Comau Robotics Product Instruction
– F - it is a flag indicating whether the port is Retentive (R) and/or Unforceable (N) or
Virtual (V)
The available commands in the bottom menu are as follows:
– Category - Port list
– Direction - Port list
– Prev.page and Next page - Port list.
11.4.4 Profile
This command allows to associate a System/Application action or event to a digital,
analog, flexible PDL2 language logical port (e.g. $DIN, $DOUT, etc.)
To enter this sub-environment, press Profile key: a menu is displayed to choose
whether the action/event to be associated to an I/O point, is related to the System or to
an Application.
The Application profile is only available if at least one COMAU Smart* (es. SmartSpot,
SmartHand, etc.) application is currently installed on the Control Unit.
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Comau Robotics Product Instruction
System and Application actions/events can be associated, as global Profile, to the Slave Fieldbus
module which has been declared as System Device.
In the case of System Profile, while configuring such a module, the System Profile field must have
been selected - see Fig. 11.4 - Profibus Slave module Configuration on page 483.
System actions/events can be associated, as a Single Port, to any I/O point.
Each indicated Action/Event in the System Profile, has got the corresponding image into some $GI
e $GO type ports: $GI17..$GI26 and $GO17..$GO32.
For any further information about them, mainly for Actions/Events meaning, refer to Ports to check
the start and stop statuses table, chap.8 - Start and stop controls in C5G Control Unit - Technical
Specification manual.
In the System Profile page, a combobox (Profile) is provided in order to select the
wished profile, choosing it from a list which is automatically opened; the available ones
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Comau Robotics Product Instruction
are:
– System Profile - Comau - predefined profile with suggested default ports
– System Profile - Custom - profile which the User is allowed to customize.
For Comau predefined profile, the default values suggested by the program are viewed
in the table. This DOES NOT mean that such values have already been automatically
associated: it is just a suggestion and the association must expilicitly be required by the
user, touching Set key.
Please note that the suggested PDL2 ports are the previously mapped ones
(see par. 11.4.2.1 Modify - Device on page 526) on the Device indicated in the table.
The following commands are available in the Functional keys menu:
– Set - System Profile - Comau
– Clean - System Profile - Comau
– Direction - System Profile - Comau
– Prev.page and Next page - System Profile - Comau.
Choosing this command, a menu is open which allows selecting the following items:
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Comau Robotics Product Instruction
– Profile - to associate all the chosen profile ports (Comau, in our example) to all the
actions/events.
In Set column of each row, the word Yes appears to indicate the performed
association.
If one or more points of the device are not mapped, a message is displayed. The
User must take care of mapping them before issuing command Set again.
At the end of the Set operation, an informational message appears to state the
command has been executed, and the required associations are displayed.
– Single port - to associate the selected action/event to a single port.
The program asks the User to specify which is the Device-Byte-Bit the selected
action/event is to be associated to. Depending on such 3 parameters, the
corresponding PDL2 logical port is displayed, if mapped. Touch OK key to confirm.
If in the required position there is not a mapped port, the OK key is not available,
so the User must Cancel the current operation and map it, before issuing the Set
command again.
At the end of the operation, the word Yes is displayed in the table to indicate the
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Comau Robotics Product Instruction
Note that, setting a single port, the current Profile is automatically switched to System
Profile - Custom.
Note that, moreover, when modifying the Comau System Profile, the current Profile is
automatically switched to System Profile - Custom.
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Comau Robotics Product Instruction
Note that, if the choice is Custom, the only possibility for associating actions/events to
I/O points, is Single port.
The program asks the User to specify which is the Device-Byte-Bit the selected
action/event is to be associated to. Depending on such 3 parameters, the corresponding
PDL2 logical port is displayed, if mapped. Touch OK key to confirm.
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Comau Robotics Product Instruction
If in the required position there is not a mapped port, the OK key is not available, so the
User must Cancel the current operation and map it, before issuing the Set command
again.
At the end of the operation, the word Yes is displayed in the table, Set column, to
indicate the action/event has been associated to the required port.
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Comau Robotics Product Instruction
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Comau Robotics Product Instruction
The default values for the Comau predefined profile, suggested by the program, are
displayed in the table. This DOES NOT mean such values have already been
automatically associated to the actions/events: they are just a suggestion and, if wished,
the User must intentionally touch Set key to associate them.
The following functionalities are available in the bottom menu:
– Set - Application Profile - Comau
– Clean - Application Profile - Comau
– Direction - Application Profile - Comau
– Prev.page . and Next page - Application Profile - Comau.
Choosing this command causes a menu to be opened to select the following items:
– Profile - to associate all the chosen profile ports (Comau, in our example) to all the
actions/events. In column Cfg of each row, the word Yes appears to indicate the
performed association.
If one or more points of the device are not mapped, a message is displayed (see
figure below). The User must take care of mapping them before issuing command
Set again.
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Comau Robotics Product Instruction
At the end of the Set operation, an informational message occurs to state the
command has been executed, and the required associations are displayed.
– Single port - to associate the selected action/event to a single port.
The program asks the User to specify which is the Device-Byte-Bit the selected
action/event is to be associated to. Depending on such 3 parameters, the
corresponding PDL2 logical port is displayed, if mapped. Touch OK key to confirm.
If in the required position there is not a mapped port, the OK key is not available,
the User must Cancel the current operation and map it, before issuing Set
command again.
At the end of the operation, the word Yes is displayed in the table (Cfg column) to
indicate the action/event has been associated to the required port.
Note that, setting a single port, the current Profile is automatically switched to
Application Profile - Custom.
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Comau Robotics Product Instruction
Note that, moreover, when modifying the Comau Application Profile, the current Profile
is automatically switched to Application Profile - Custom.
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Comau Robotics Product Instruction
Note that, if the choice is Custom, the only possibility for associating actions/events to
I/O points, is Single port.
The program asks the User to specify which is the Device-Byte-Bit the selected
action/event is to be associated to. Depending on such 3 parameters, the corresponding
PDL2 logical port is displayed, if mapped. Touch OK key to confirm.
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Comau Robotics Product Instruction
If in the required position there is not a mapped port, the OK key is not available, the
User must Cancel the current operation and map it, before issuing Set command again.
At the end of the operation, the word Yes is displayed in the table (Cfg column) to
indicate the action/event has been associated to the required port.
11.4.5 Link
This command allows to create an association (link) between two ports: the second Port
(called destination) takes the same value of the first one (called source). It is, therefore,
a logical copy.
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Comau Robotics Product Instruction
If it is wished to exit from Add functionality, without operating any modifications, just
touch Cancel key.
11.4.6 Save
This command saves all the performed modifications, without asking for any further
confirmation. An informational message tells the User that data saving has been
executed.
NO further commands are needed to make the modifications operational.
11.4.7 Exit
This command allows quitting IO_MAP program.
The performed modifications are lost, if not previously saved by means of Save
command.
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Comau Robotics Product Instruction
a. perform I/Os configuration and mapping on just ONE C5G Control Unit, by
means of IO_CNFG Program - I/O modules configuration and IO_MAP Program -
I/O ports mapping;
c. import all data included in such a file, to all the C5G Control Unit belonging to the
robotized line;
b. touch IO icon
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Comau Robotics Product Instruction
In the IO_CLONE program, the following functionalities are available to allow the above
described functions:
– Export
– Import
– Save
– Quit.
Back
Note that in the screen pages of the other levels, Back key is always present to allow
quitting such a step of the procedure, and going back to the previous one.
Depending on the category for which “cloning” is wished, the listed above operations
can be activated for (see Fig. 11.36) for:
– Slave
– Master network
– (single) Device.
NOTE - Before issuing any command, it is needed to choose the wished category, by
selecting it in the list activated when touching the Choose category combobox.
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Comau Robotics Product Instruction
After choosing the category, go ahead with the wished operations, as described in the
following sections.
11.5.2 Export
This command allows creating a .CIO file containing the I/O points mapping together
with some configuration information, for the currently selected category.
Such a file will then be importable, to be copied onto other C5G Control Unit.
When this command is issued, the program displays a page in which the User must
specify the following information:
– Slave / Master / Device - each one of these three categories is associated to a
different page; open the corresponding combobox, operate the wished choice and
touch OK to confirm. In the figures below, Slave and Device pages are shown.
NOTE - for MASTER NETWORK and DEVICE categories, I/O points mapping only is
exported. No configuration information. The Export operation for DEVICE category is
similar to the MASTER NETWORK one, but referred to a single device.
– File name - name of the being created .CIO file; it will include the I/O points
mapping and some configuration information.
– Destination - directory path for .CIO file: device and directory. It is suggested by
IO_CLONE program; when a USB flash disk is inserted, XD: and TX: type devices
are also suggested. TX: device is suggested just if and when the USB flash disk is
inserted into the Teach Pendant USB port.
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Comau Robotics Product Instruction
When the chosen category is SLAVE, exporting will be successful only if the expected
Slave type is present on the destination.
As soon as the required data insertion is completed, press Execute to start exporting.
At the end of the operation, the program displays a suitable message to inform about
the Export operation completion.
11.5.3 Import
This command allows “copying”, onto the specified device, a previously exported I/O
points mapping (see par. 11.5.2 Export on page 551).
The program displays a page in which the User must specify the following information:
– Device - directory path for .CIO file: device and directory. It is suggested by
IO_CLONE program; when a USB flash disk is inserted, XD: and TX: type devices
are also suggested. TX: device is suggested just if and when the USB flash disk is
inserted into the Teach Pendant USB port
– File - name of the previously created .CIO file, including some configuration
information and mapping for all the I/O points. When more than one file of such a
type are available, the User must choose the wished one opening the
corresponding combobox, selecting it and touching OK to confirm.
As soon as the required data have been inserted, press Execute to perform Import
operation.
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Comau Robotics Product Instruction
WARNING - if the chosen category is ‘Slave’, a page is displayed in which the User must
specify the address of the destination Slave, by means of the displayed Numeric field.
When modified, touch Set to confirm it.
At the end of the operation, the program displays a suitable message to inform about
the Import operation completion.
Touch OK to go back to IO_CLONE home page.
On the contrary, if any error occurs, a suitable error message is issued to notify the User.
WARNING - importing can be successful ONLY IF the destination device has ALREADY
been CONFIGURED!
At the end of the Import operation, the User must save the new configuration (Save key)
and perform a restart cold operation (see par. 5.8.2.2.1 Cold on page 104).
11.5.4 Save
This command must be used to save all modifications made by an Import operation
(see par. 11.5.3 Import on page 552).
11.5.5 Quit
This command allows quitting IO_CLONE program.
Any imported information will be lost if not previously saved by means of Save
command.
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Comau Robotics Product Instruction
12.1 Introduction
The Frames environment programs, available from within the Teach Pendant Setup
page, perform the automatic and guided calculation of the $TOOL, $UFRAME,
positioners $AUX_BASE and $BASE values.
– TOOL automatic calculation defines the actual dimensions of the work tool
mounted on the robot flange.
– UFRAME automatic calculation defines a new reference frame in relation to
which the work positions will be taught.
– BASE automatic calculation for positioners calculates the positioners BASE.
TOOL, UFRAME and positioners BASE handling programs, are always present in the
Control Unit.
Simply select Setup page on the Teach Pendant, touch Motion icon and choose Frames
environment (as shown in the following figure), to use such programs.
The Frames environment (see next figure) includes the three icons corresponding to the
three available programs:
– Base
– Tool
– Uframe.
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Comau Robotics Product Instruction
Please note that, for each one of the three listed above programs, whenever the user
wishes to save the calculated values, they are saved in the corresponding Data Page
table.
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Comau Robotics Product Instruction
12.3.1 Introduction
This environment allows calculating the working tool dimensions, either mounted
onto the robot flange (local TOOL) or defining the coordinates system of a fixed
tool (remote TOOL). The robot is used as the measurement device.
The Tool calculation is needed either the first time a tool is mounted or when the robot
(or the reference position) has been moved or calibrated again, referred to the initial
position.
The following topics are fully described in the current chapter:
– Needed Tools
– General characteristics
– Procedure.
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Comau Robotics Product Instruction
For any further information about the calibrated tool, see the Robot Technical
Specifications Manual, Calibrated tool Group section.
Besides, an object or a specific position onto the working tool can be used, whose
distance from the robot flange center is precisely known.
The rotations around X_tool and Y_tool (<A>: Euler 1 and <E>: Euler 2) are calculated
so as to fix the new Z_tool on the tool, in the wished direction and sense.
The rotation around the new Z_tool (<R>: Euler 3) is calculated so as to fix for a certain
"tool plane", rotating around the new Z_tool, the direction and sense of the X_tool
and Y_Tool.
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Comau Robotics Product Instruction
12.3.4 Procedure
Select Setup page on the Teach Pendant, Motion icon, Frames environment and then
Tool icon, to activate the Toool automatic Calculation Procedure.
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Comau Robotics Product Instruction
– 4-points - the 4-points method allows calculating the tool measures, using the tool
itself, by teaching enough positions to obtain its dimensions.
Both methods allow teaching a certain number of positions, by accessing some screen
pages related to some corresponding phases, by touching Teach key (to teach the
position, even more than once, if needed) and Next key to go to the next phase.
When the Tool value is calculated, the user can save it to teither he Tool table or, in case
of nodal configurated system, in the suitable predefined variable.
Enter the Motion Page and select the tool from Tool field, in order to make it operational.
For any calculating method it is needed to start the procedure with an enabled local
tool (not a remote tool!), otherwise an informational message is issued, such as the one
shown in the following figure.
b. The program displays the Tool Master page (previous figure). Check whether the
Tool Master is mounted onto the robot and enabled from within Motion Page, Tool
field.
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Comau Robotics Product Instruction
c. Check the Tool Master values: usually they are correct. If so, directly go to step d.
Viceversa, if any inaccuracies are detected, modify X, Y or Z, as follows:
c.2 edit the wished field and/or fields, according to the Numeric field modality.
c.3 When all the wished modifications are completed, then touch EndEdit key.
The new value for the Tool Master will be used until the end of the Tool calculation.
Such a value can be saved, if wished.
g. If needed, slightly modify the taught position, jog the robot again and touch Teach
key again.
h. Touch Next key to proceed. The program displays the following screen page:
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Comau Robotics Product Instruction
l. If needed, slightly modify the taught position, jog the robot again and touch Teach
key again.
Now, the being measured Tool X, Y and Z components have been calculated;
the procedure informs the user by means of a suitable message.
m. Touch OK to confirm.
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Comau Robotics Product Instruction
Note that if the tool axes are parallel to the flange reference system ($TOOL(0)), it is
advisable to move the robot to the calibration position; this operation has the advantage
to move all the tool three axes parallel to the ones of the BASE without moving the robot
further.
In such case, in order to complete the orientation calculation, the operator must just
select which BASE semi-axes Z_TOOL (step s.) and then X_TOOL (step u.) are parallel
to.
On the contrary, it is needed to conveniently orientate both Z_TOOL and X_TOOL
besides selecting the wished semi-axes.
See the corresponding steps described here on.
p. Orientate the tool Z_tool (positive direction), parallel to the previously selected
direction, by rotating in TOOL coordinates and using 4 and 5 keys, until the
direction of the tool that is intended to be taken as the new Z_tool, exactly
corresponds in the wished direction and sense, to the BASE reference.
t. Orientate the tool X_tool (positive direction), parallel to the previously selected
direction, by rotating in TOOL coordinates and using 4 and 5 keys, until the
direction of the tool that is intended to be taken as the new X_tool, exactly
corresponds in the wished direction and sense, to the BASE reference.
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Comau Robotics Product Instruction
x. To do so, move axes 4, 5, 6 in TOOL coordinates to check the new TCP lies still
(movements in the vicinity of 3 mm are accepted). If the check result is ok, go to
step aa.
aa. The user can choose the tool table element for saving the calculated data. Act as
follows:
aa.2 select the wished tool by choosing it from the list (see previous figure),
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Comau Robotics Product Instruction
NODAL SYSTEM
Note that in case of NODAL System, the screen page of calculated values saving (see
v. step), is the shown here below and the values are saved to $TOOL predefined
variable, associated to the current Arm.
a. After selecting Local and 4-points checkboxes (as shown in the following figure),
touch Begin key .
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Comau Robotics Product Instruction
d. As soon as the wished point is reached, touch Teach key to acquire the position.
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Comau Robotics Product Instruction
e. Touch Next key to proceed in teaching point no.2. The following page is displayed:
f. Move the robot TCP to modify the orientation on the reference point.
g. As soon as the wished point (no.2) is reached, touch Teach key to acquire the
position.
h. Touch Next key to proceed in teaching the remaining points. The system displays
the screen page to acquire point no.3.
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Comau Robotics Product Instruction
Note that, starting from point no.3 acquisition, the program could be already able
to get X, Y and Z coordinates allowing to define the being measured tool TCP.
i. If the measurement is not precise, some more points are required (repeat steps f.,
g. and h.), up to a maximum amount of 8 points.
If the program can succeed in properly calculating the being measured Tool, go
ahead with step m. to calculate the Tool orientation.
j. If, on the contrary, the program couldn’t calculate the Tool dimensions, even after
the acquisition of 8 points, the procedure must be executed again.
In such a situation the following message is displayed:
k. Touch OK key.
l. Start from step a. again, taking care of varying more the orientation of the acquired
points.
m. The being measured Tool X, Y and Z values have been calculated: it is now
time to calculate its orientation. A suitable message is displayed to inform the user.
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Comau Robotics Product Instruction
Note that if the tool axes are parallel to the flange reference system ($TOOL(0)), it is
advisable to move the robot to the calibration position; such an operation has the
advantage to move all the tool three axes, parallel to the ones of the BASE without
moving the robot further.
In such case, in order to complete the orientation calculation, the operator must just
select which BASE semi-axes are parallel to Z_TOOL (step q.) and then X_TOOL (step
u.).
On the contrary, it is needed to conveniently orientate both Z_TOOL and X_TOOL
besides selecting the wished semi-axes.
See the corresponding steps described here on.
p. The program displays the following screen page, in which the resulting calculation
of being constructed Tool variable X, Y, Z is shown:
r. Orientate the tool Z_tool (positive direction), parallel to the previously selected
direction, by rotating in TOOL coordinates and using 4 and 5 keys, until the
direction of the tool that is intended to be taken as the new Z_tool, exactly
corresponds in the wished direction and sense, to the BASE reference.
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Comau Robotics Product Instruction
v. Orientate the tool X_tool (positive direction), parallel to the previously selected
direction, by rotating in TOOL coordinates and using 4 and 5 keys, until the
direction of the tool that is intended to be taken as the new X_tool, exactly
corresponds in the wished direction and sense, to the BASE reference.
x. The program calculates A, E and R angles and displays the shown below page:
z. To do so, move axes 4, 5, 6 in TOOL coordinates to check the new TCP lies still
on the reference (movements in the vicinity of 3 mm are accepted). If the check
result is ok, go to step ac.
ab. Repeat the procedure from the beginning, after such checks.
ac. The user can choose the tool table element for saving the calculated data. Act as
follows:
ac.2 select the wished tool by choosing it from the list (see previous figure),
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Comau Robotics Product Instruction
NODAL SYSTEM
Note that in case of NODAL System, the screen page of calculated values saving, is the
shown below and the values are saved to $TOOL predefined variable, associated to the
current Arm.
It is recommended to use the MASTER TOOL or a CALIBRATED TOOL, the same used
for the LOCAL Tool calculation procedure. As an alternative, it is also allowed to use a
specific position on the working piece (e.g. the being welded body), whose distance from
the flange center must be well known and precise.
As already said, to perfom the REMOTE Tool calculation, the user can choose between
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Comau Robotics Product Instruction
the following
– Standard Method
– 4-points method.
b. Touch Begin to start the procedure. The system displays the following page.
c. Check whether the Tool mounted onto the robot is the one wished for measuring
the Remote Tool (the use of the TOOL Master is recommended) and is enabled (if
not, enable it from within Motion Page).
d. Check the current Tool values: usually they are correct. If so, directly go to step e.
Viceversa, if any inaccuracies are detected, modify X, Y or Z components, as
follows:
d.2 edit the wished field(s), according to the Numeric field modality.
d.3 When all the modifications are completed, touch EndEdit key.
The Tool Master new value will be used until the end of the Tool calculation. Such
a value, if wished, can be saved in the TOOL table (Data Page) to make it
permanent.
e. Touch Next key to continue the calculation. The following page is then displayed
by the system.
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Comau Robotics Product Instruction
h. The system displays a message to inform that X, Y and Z components have been
calculated and the Remote Tool is now enabled.
i. Touch OK key to confirm. The following page is displayed by the system, showing
the calculated values.
j. Touch Next key to continue in the Remote Tool orientation definition. Please
remember that the Remote Tool is enabled!
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Comau Robotics Product Instruction
p. Orientate X_tool_rmt (positive direction), i.e. the Remote Tool X_tool component,
according to the same criterion used in step k.
r. The program calculates A, E, R angles again and dispalys their values (see next
figure):
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Comau Robotics Product Instruction
s. The user can choose the tool in which the calculated data are to be saved. Act as
follows:
s.2 select the wished tool by choosing it in the list (see figure above),
s.3 touch OK key to confirm the choice of the tool in which the new values will be
saved.
t. Touch OK key again to confirm saving. A suitable message is displayed stating that
data have been saved and asking the user whether to let the remote tool enabled
or not.
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Comau Robotics Product Instruction
u. Touch Yes key or No key, as wished, to specify whether the remote tool is to kept
enabled or not.
NODAL SYSTEM
Note that in case of NODAL System, the screen page of calculated values saving, is the
shown below and the values are saved to $TOOL predefined variable, associated to the
current Arm.
$TOOL_RMT predefined variable is set to TRUE: remote tool is enabled.
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Comau Robotics Product Instruction
a. Select Remote and 4-points (as shown in the previous figure) and then touch
Begin key.
e. As soon as the wished position is reached, touch Teach key to acquire the current
position.
f. Touch Next key to continue with point #2 acquisition. The following page is
displayed by the system:
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Comau Robotics Product Instruction
h. Touch Teach key as soon as the wished position is reached (point #2), to
acquire it.
i. Touch Next key to continue in the remaining points acquisition. The system
displays the page for acquiring point #3.
Note that, starting from point #3 acquisition, the program could be already able to
get X, Y and Z coordinates allowing to define the being measured Tool TCP.
j. If the measurement is not precise, some more points are required (repeat steps g.,
h. and i.), up to a maximum amount of 8 points.
If the program can succeed in properly calculating the being measured Tool, go
ahead with step n. to calculate the Tool orientation.
k. If, on the contrary, the program couldn’t calculate the Tool dimensions, even after
the acquisition of 8 points, the procedure must be executed again.
In such a situation the following message is displayed:
l. Touch OK key.
m. Start again from step a., but the user has to vary more the being acquired points
orientation.
n. Now, X, Y and Z values have been calculated for the Remote Tool: it is now
time to calculate its orientation. A suitable message is displayed to inform the user.
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Comau Robotics Product Instruction
movement in Z), because in such a way it is like the remote tool (which actually is
fixed) is virtually moving upwards (i.e. Z+ in $BASE as wished from the user).
u. Orientate X_tool_rmt (positive direction), i.e. the Remote Tool X_tool component,
according to the same criterion used in step p.
w. The program calculates A, E, R angles again and dispalys their values (see next
figure):
x. The user can choose the tool in which the calculated data are to be saved. Act as
follows:
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Comau Robotics Product Instruction
x.2 select the wished tool by choosing it in the list (see figure above),
x.3 touch OK key to confirm the choice of the tool in which the new values will be
saved.
y. Touch OK key again to confirm saving. A suitable message is displayed stating that
data have been saved and asking the user whether to let the remote tool enabled
or not.
z. Touch Yes key or No key, as wished, to specify whether the remote tool is to kept
enabled or not.
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Comau Robotics Product Instruction
NODAL SYSTEM
Note that in case of NODAL System, the screen page of calculated values saving, is the
shown below and the values are saved to $TOOL predefined variable, associated to the
current Arm.
$TOOL_RMT predefined variable is set to TRUE: remote tool is enabled.
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Comau Robotics Product Instruction
12.4.1 Introduzione
In this environment a new reference system can be defined in relation to which the
work positions will be taught. The calculation precision is the robot one, since it is used
as the measuring device.
Detailed information is given on these subjects:
– Needed tools
– General characteristics
– Procedure.
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Comau Robotics Product Instruction
12.4.5 Procedure
Open the Setup page, then select Motion icon, choose Frames environment and finally
touch Uframe icon, to activate the UFRAME Automatic Calculation Procedure.
When opening this environment, a page is displayed in which the currently active tool is
shown in the tools selection combobox, together with the indication whether it is local or
remote.
In case of nodal system, the active tool value is directly displayed, together with the
indication whether it is local or remote.
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Comau Robotics Product Instruction
Depending on whether the active tool is Local or Remote, either the LOCAL UFRAME
automatic calculation procedure or REMOTE UFRAME automatic calculation procedure
is started as soon as Begin key is touched.
c. The choosen tool is selected by the system and a suitable message is displayed to
inform the user that the tool has been activated. Touch OK key to continue.
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Comau Robotics Product Instruction
The robot may be in any position: the operator can move the TCP to ORIGIN point as
preferred, according to requirements.
g. Move the tool TCP to Xpos position and then touch Teach key to acquire it.
The robot may be in any position: the operator can move the TCP to Xpos point as
preferred, according to requirements.
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Comau Robotics Product Instruction
i. Move the tool TCP to XYpos position and then touch Teach key to acquire the it.
The robot may be in any position: the operator can move the TCP to XYpos point as
preferred, according to requirements.
k. The program displays $UFRAME calculated values (XYZ relocations and AER
orientations).
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Comau Robotics Product Instruction
m. It is also allowed to manually edit the obtained numerical values, in the Uframe
cells:
m.1 touch Edit key and act on the individual fields, according to the suitable modality
for Numeric fields.
Note that, when a modification (editing) has been executed, MovOrigin key will no
longer be available.
o. If, instead, the taught positions don’t allow the Uframe calculation, an error is
returned, as shown in the following example (the taught points are too close), and
the procedure must be executed again from the beginning.
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Comau Robotics Product Instruction
s. The user has to choose the wished element from the frames table, for saving the
calculated Uframe. Act as follows:
s.1 open the list by touching the frames Combobox (see previous figure),
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Comau Robotics Product Instruction
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Comau Robotics Product Instruction
Before starting the procedure, choose the being used tool from the Tools List (touch
Tool used for UFRAME computation field) and touch OK key to confirm.
The system selects the chosen Tool and displays a suitable message to inform the user
that such a Tool is now active.
In case of nodal configured system, the active Tool value is directly displayed, together
with the indication of Remote Tool.
CAUTION: always keep in mind that the Remote Tool is enablactive! Which means to
be aware that in the cartesian motion (BASE, TOOL, UFRAME), with REMOTE TOOL
ENABLED, the virtual movement of the Remote Tool is to be taken into account,
INSTEAD OF the robot actual movement.
Then the current procedure is exactely the same as LOCAL UFRAME automatic
calculation procedure.
Touch Begin key and executes all steps from d. to t.
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Comau Robotics Product Instruction
12.5.1 Introduction
In this environment the user can define the reference frame of a positioner referred
to the robot, in order to iallow the cooperative motion of the robot and such a positioner.
The calculation precision is the robot one, since it is used as the measuring device.
Detailed description is supplied about the following topics:
– Needed tools
– General characteristics
– Procedure.
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Comau Robotics Product Instruction
– The calculated values are saved to <$SYS_ID>.C5G configuration file, so they can
be retrieved by means of the Load command, available in the Configure
environment, System subpage of the Setup page.
– The positioner can be seen by the system either as an auxiliary axis or as ARM (in
case of multi-arm). In the first case the axis which the positioner is associated to,
must have already been defined.
– The calculated values will be automatically assigned to the following system
variables:
• auxiliary axis
$ARM_DATA[narm].AUX_BASE[npositioner]
• arm
$ARM_DATA[narm].BASE
12.5.4 Procedure
Open the Setup page, then select Motion icon, choose Frames environment and finally
touch Base icon, to activate the BASE Automatic Calculation Procedure for Positioners.
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Comau Robotics Product Instruction
a. After the general choices have been made, touch Begin key to start teaching
positions according to the chosen method (1-point method or 3-points method).
b. If the condition is not satisfied yet, the program first asks the user to move the
positioner so that all its axes are in the zero position.
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Comau Robotics Product Instruction
c. Touch OK key.
Continue the execution of the suitable procedure, according to the previously
chosen teaching method.
d. 1-point method
d.1 Move the robot to the identified point on the plate (see previous figure on the left)
d.2 Touch Teach key to acquire the reached position (see previous figure on the right)
d.3 Check (displayed values in Posner field, for the existing axes) the positioner is in
the right position (0°) and NO MORE moved.
d.3.2 Correct the position, by properly jogging the axis or executing a motion statement
(e.g. from the Execute environment), on the joints defined for such a positioner.
d.3.3 Touch OK key to confirm and then Next key to continue with the next phase.
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Comau Robotics Product Instruction
d.4 Rotate the positioner so that its last axis is moved to +60° and be sure it is not
longer moved from such a position.
d.5 Move the robot to the defined position on the plate, which shows to be rotated of
+60° compared to previous step (step d.1)
d.6 Touch OK key at the end of the robot movement and then Teach key to acquire
the reached position.
d.8 Rotate the positioner so that its last axis is moved to +120° and be sure it is not
longer moved from such a position.
d.9 Move the robot to the defined position on the plate, which shows to be rotated of
+120° compared to previous step d.1
d.10 Touch OK key at the end of the robot movement and then Teach key to acquire
the reached position.
If the taught positions do NOT allow the BASE calculation, e.g. if they are too close
among them, the program issues the following message.
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Comau Robotics Product Instruction
d.11 If the calculation was possible, the program displays $AUX_BASE resulting values
(XYZ relocations and AER orientations) and goes on with saving operation, by
means of the following page.
d.13 At saving end the user should move the positioner axes in JOINT mode, to check
whether the cooperative motion between robot and positioner is properly executed.
This test can be performed just when the cooperative motion is active (see COOP
information in the Status bar).
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Comau Robotics Product Instruction
e. 3-points method
With this method, the robot is moved to three different points existing onto the
positioner which should NEVER be rotated.
In this case too, the positioner must have all axes in zero position.
e.1 Move the robot to the first marked point on the positioner.
e.3 Touch Next key to continue with teaching the next position.
e.4 A message is issued to inform the user about the next steps. Touch OK key to
confirm
e.5 Move the robot to the second marked point on the positioner.
e.8 Touch Next key to continue with teaching the next position.
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Comau Robotics Product Instruction
e.9 A message is issued to inform the user about the next steps. Touch OK key to
confirm.
e.10 Move the robot to the third marked point on the positioner.
If the taught positions do NOT allow the BASE calculation, e.g. if they are too close
among them, the program issues the following message.
e.13 If the calculation was possible, the program displays $AUX_BASE resulting values
(XYZ relocations and AER orientations) and goes on with saving operation, by
means of the following page.
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Comau Robotics Product Instruction
e.15 At saving end the user should move the positioner axes in JOINT mode, to check
whether the cooperative motion between robot and positioner is properly executed.
This test can be performed just when the cooperative motion is active (see COOP
information in the Status bar).
a. Be sure the selected positioner Arm is the right one (ArmNum field). Change it if
needed, acting as follows:
b. Select the wished method for the positioner base calculation. Modify the equipment
values if needed.
a. After the general choices have been made, touch Begin key to start teaching
positions according to the chosen method (1-point method or 3-points method).
From here on, the being followed steps are exasctly the ones described for the auxiliary
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Comau Robotics Product Instruction
axes positioner.
The basic difference is that to move the positioner to the zero position or to any other
position during the 1-point method execution (+60° and +120°), switching the Arm is
needed each time, on the Teach Pendant, according to requirements.
To do so, the Arm button can be used.
The number of the currently active Arm on the Teach Pendant is displayed in the Arm
field of the Status bar.
At the end of the procedure, the calculated BASE for the positioner can be saved to
$ARM_DATA[n].BASE, as shown in the following figure.
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Comau Robotics Product Instruction
The anthropomorphic robots are provided with complete dynamic model on all six
axes.
Because of the model's sensitivity to the declared payload parameters, it is necessary
that the user checks the proper definition of the used payload, in every situation.
In effect, an imprecision in the declaration of the payload characteristics has a negative
influence on the robot performances.
Warning: for safety reasons it is very important that the machine is not used before
having defined the payload values.
The omission or a rough error in the payload declaration could create potentially
hazardous situations for the users and for the fixtures
During the Payload Identification procedure also the outfitting weight component (e.g.:
cable) is identified.
If it is wished to execute the procedure with outfitting present (e.g. cables) applying a
significant traction (for example on the wrist structure), it is advised to remove them
where possible, or in any case ensure that their presence does not influence the results
of the procedure.
For the identification, Comau requires movements WITH the payload only.
The Payload identification procedure, runs two separate movement programs that
involve the wrist axes, and, partially, robot axis 3, and recalculates the values of the
following system variables:
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Comau Robotics Product Instruction
– $TOOL_MASS (kg)
– $TOOL_CENTER (x, y and z)
– $TOOL_INERTIA[1..6] (it is only necessary to supply items from I1 to I6, in
kg/sq.m, since the Inertia matrix is symmetrical). The useful reference system to
define the Inertia matrix is the one of the tool ($TOOL_CNTR), with origin in the
COG (Centre Of Gravity).
Once this has been determined, the parameters will be immediately active and
automatically stored in the specific table created by TO_SET (TT_TOOL1.var), to be
called up when executing the motion cycles, each time the same payload is used.
It could happen that, individually, the values produced by the Payload identification
procedure have a certain tolerance in relation to the actual values. In any case, due to
the way the dynamic model is designed, the total consistency of such values is
important.
13.2 Procedure
The motion programs for the Payload identification are supplied by Comau in PDL2
language and differ depending on the robot model, on the basis of the robot kinematic
features. Their use is strongly recommended, unless there are physical impediments in
the robot working area.
Before installation, check that the overall dimensions caused by the presence of any
fixtures installed in the robot operating area, allows the complete execution of the
programs available for the Payload identification, supplied by Comau.
If there is not space enough, it is advised to run this procedure BEFORE the final
positioning of the robot in the cell or line; if, in spite of the limited space, it is decided to
run the procedure, the user can change the Payload identification programs, reducing
the axis strokes and/or changing the position of some of them (for example axis 1 and
2): in any case, the variations are to be made in compliance with the fundamental
requirements needed for the modification of the Payload identification programs (see
par. 13.2.1 Requirements to modify the Payload Identification programs on page 601).
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Comau Robotics Product Instruction
a. At the activation, a page is displayed to allow the user to choose whether to use a
system predefined position (calibration position) or a user defined position, as the
initial one.
c.1 Predefined Position - on the Teach Pendant keep pressed both the Enabling
Device and START buttons, during the whole movement.
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Comau Robotics Product Instruction
c.2 Wished position - move the robot to such a position, taking care of keeping axis 3
parallel to the robot base and axes 4, 5 and 6 at a quote less than 0.5 degrees (see
par. 13.2.1 Requirements to modify the Payload Identification programs on
page 601).
d. In both cases, when the robot has reached the destination, the procedure asks the
user to enter IDE environment to run the reaches check program.
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Comau Robotics Product Instruction
e. Access to the IDE Page from the Desktop Page, as shown in the following figure,
in order to be able to step-by-step execute the program.
f. Usually the program is automatically open. If, due to any reason, the program is not
active, select it by means of Open command
g. At the end of the step-by-step execution, the program is deactivated; close IDE
environment and go back to the Payload Identification page (see next figure).
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Comau Robotics Product Instruction
i. In case in which the choice has been Wished postion and, during the execution in
IDE environment, it is realized that some modifications to the program are needed,
e.g. due to encumbrances presence, in this phase it is allowed modifying the initial
position and/or restrict one or more axes range.
If no modifications are required, touch Next key to directly go to j. step
i.1 If the choice is modify the initial position, move the robot to the wished position,
taking care of the needed requirements (see par. 13.2.1 Requirements to modify
the Payload Identification programs on page 601).
i.2 If the choice is restrict one or more axes range, touch ModAxes key to make such
axes fields editable
i.2.1 Modify the wished fields, depending upon their own datatype (Numeric field).
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Comau Robotics Product Instruction
i.3 Next - proceed with the reaches check program execution, in IDE environment (go
back to e., f. and g. steps).
i.4 Cancel - interrupt the procedure and go back to the starting page (step a.).
j. A system message warns the user that the preliminary phase is accomplished.
k. Go ahead with the procedure execution, according to the system indications: turn
the modal selector switch to LOCAL (AUTO) and touch Next key.
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Comau Robotics Product Instruction
n. Switch the system to DRIVE ON, touching DRIVE key in the right menu (as shown
in the following figure).
p. When the warming phase is completed (the user is warned about that by means of
an informational message), switch the system state to DRIVE OFF and touch Next
key.
q. The user is asked to set $GEN_OVR to 100%. To do so, touch the highlighted field
in the previous figure.
r. The system opens Arm Override Page. The user just has to touch 100% column.
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Comau Robotics Product Instruction
To modify the General Override it is also allowed to act on +% and -% keys, on the
Teach Pendant, as shown in the following figure.
v. Do not touch anything in this phase, otherwise the calculation should be executed
again from the beginning. Just if really needed, press HOLD to stop motion and
start the working cycle again.
w. At the end of this phase, touch Next key when required by the system.
x. The user is asked whether any restrictions exist preventing the program to be
executed at maximum speed.
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Comau Robotics Product Instruction
y. Answer Yes or No, as wished, and then touch Next to go ahead. Depending on the
user’s answer, the system will automatically set the override to either 100% or
60%, and perform the working cycle for some minutes.
z. Switch the system to DRIVE OFF by means of the DRIVE key (highlighted in the
previous figure).
aa. Switch the system to DRIVE ON again and press START to cause the motion to
begin.
The actual Automatic Payload Identification program is then executed.
ad. Now the procedure computes all data gathered during the motion program. Wait
for the operation completion.
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Comau Robotics Product Instruction
ae. At the identification end, confirm the informational message by touching OK key.
ag. The calculated values (mass, mass and inertia centre) and a field in which it is
allowed to select either the Tools (Local payload) or the Frames (Remote payload)
table element for storing such values, are then displayed.
ah. Touching OK key data are saved into the specified element of either
TT_TOOL.VAR table if LOCAL Tool, or TU_FRAME.VAR table if REMOTE Tool.
Viceversa, touching Cancel key, the calculated data are ignored.
The program returns back to the starting page, in both cases.
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Comau Robotics Product Instruction
ai. Touch either Quit key to finish or Begin key to start the procedure again.
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Comau Robotics Product Instruction
MOTION
CR17926200 Cooperative Motion 0.70.200
CR17926201 Collision Detection 0.6x
CR17926202 Automatic Payload Identification 0.6x
CR17926203 Joint Soft Servo (*) 0.6x
CR17926204 Synchronized Arms 0.70.200
CR17926205 Sensor Tracking 0.70.200
CR17926206 Conveyor Tracking t.b.d.
CR17926207 Weaving Motion 0.70.200
CR17926208 Robot Absolute Accuracy (*) 0.6x
CR17926209 Speed Control for Arm (*) 0.6x
CR17926214 Palletizing Motion 0.6x
CR17926215 Ceiling mounted robot (*) 0.6x
CR17926216 Interference Regions 0.6x
CR17926217 Axes Pursuit 0.70.200
CR17926218 Advanced Interference Regions 1.15
CR17926219 Low Resolution Euler Angles 1.15
CR17926220 Wrist Singularity Management 1.20
RoboSAFE Cartesian (see Use of RoboSAFE Joint
CR17926223 2.40
and Cartesian functionality)
CR17926224 Quick STOP 2.31
CR17926255 SLJ (Self Learning Joystick) 2.40
COMMUNICATION
CR17926300 PDL2 Read/Write on TCP/IP 0.6x
USER INTERFACE
CR17926400 VP2.Builder (see VP2 - Visual PDL2 manual) 0.6x
CR17926401 VP2.Frames (see VP2 - Visual PDL2 manual) 0.6x
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Comau Robotics Product Instruction
(*) Check with COMAU for the actual availability of such an option for the wished robot
type.
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Original instructions
Made
in
Comau